FANUC I/O Unit–MODEL A CONNECTION AND MAINTENANCE MANUAL MARMGIOMA12801E REV. F (B-61813EN/06) - page 1
FANUC I/O Unit-MODEL A
CONNECTION AND
MAINTENANCE MANUAL
MARMGIOMA12801E REV. F
This publication contains proprietary information
of FANUC America Corporation furnished for
customer use only. No other uses are authorized
without the express written permission of
FANUC America Corporation.
FANUC America Corporation
3900 W. Hamlin Road
Rochester Hills, Michigan 48309-3253
B-61813EN/06
Safety
FANUC Robotics is not and does not represent itself as an expert in safety systems,
safety equipment, or the specific safety aspects of your company and/or its work force. It
is the responsibility of the owner, employer, or user to take all necessary steps to
guarantee the safety of all personnel in the workplace.
The appropriate level of safety for your application and installation can be best
determined by safety system professionals. FANUC Robotics therefore, recommends
that each customer consult with such professionals in order to provide a workplace that
allows for the safe application, use, and operation of FANUC Robotics systems.
According to the industry standard ANSI/RIA R15-06, the owner or user is advised to
consult the standards to ensure compliance with its requests for Robotics System design,
usability, operation, maintenance, and service. Additionally, as the owner, employer, or
user of a robotic system, it is your responsibility to arrange for the training of the operator
of a robot system to recognize and respond to known hazards associated with your
robotic system and to be aware of the recommended operating procedures for your
particular application and robot installation.
Ensure that the robot being used is appropriate for the application. Robots used in
classified (hazardous) locations must be certified for this use.
FANUC Robotics therefore, recommends that all personnel who intend to operate,
program, repair, or otherwise use the robotics system be trained in an approved FANUC
Robotics training course and become familiar with the proper operation of the system.
Persons responsible for programming the system-including the design, implementation,
and debugging of application programs-must be familiar with the recommended
programming procedures for your application and robot installation.
The following guidelines are provided to emphasize the importance of safety in the
workplace.
CONSIDERING SAFETY FOR YOUR ROBOT INSTALLATION
Safety is essential whenever robots are used. Keep in mind the following factors with
regard to safety:
The safety of people and equipment
Use of safety enhancing devices
Techniques for safe teaching and manual operation of the robot(s)
Techniques for safe automatic operation of the robot(s)
Regular scheduled inspection of the robot and workcell
Proper maintenance of the robot
i
Safety
Keeping People Safe
The safety of people is always of primary importance in any situation. When applying
safety measures to your robotic system, consider the following:
External devices
Robot(s)
Tooling
Workpiece
Using Safety Enhancing Devices
Always give appropriate attention to the work area that surrounds the robot. The safety
of the work area can be enhanced by the installation of some or all of the following
devices:
Safety fences, barriers, or chains
Light curtains
Interlocks
Pressure mats
Floor markings
Warning lights
Mechanical stops
EMERGENCY STOP buttons
DEADMAN switches
Setting Up a Safe Workcell
A safe workcell is essential to protect people and equipment. Observe the following
guidelines to ensure that the workcell is set up safely. These suggestions are intended to
supplement and not replace existing federal, state, and local laws, regulations, and
guidelines that pertain to safety.
Sponsor your personnel for training in approved FANUC Robotics training course(s)
related to your application. Never permit untrained personnel to operate the robots.
Install a lockout device that uses an access code to prevent unauthorized persons
from operating the robot.
Use anti-tie-down logic to prevent the operator from bypassing safety measures.
Arrange the workcell so the operator faces the workcell and can see what is going on
inside the cell.
Clearly identify the work envelope of each robot in the system with floor markings,
signs, and special barriers. The work envelope is the area defined by the maximum
motion range of the robot, including any tooling attached to the wrist flange that
extend this range.
Position all controllers outside the robot work envelope.
ii
Safety
Never rely on software or firmware based controllers as the primary safety element
unless they comply with applicable current robot safety standards.
Mount an adequate number of EMERGENCY STOP buttons or switches within easy
reach of the operator and at critical points inside and around the outside of the
workcell.
Install flashing lights and/or audible warning devices that activate whenever the robot
is operating, that is, whenever power is applied to the servo drive system. Audible
warning devices shall exceed the ambient noise level at the end-use application.
Wherever possible, install safety fences to protect against unauthorized entry by
personnel into the work envelope.
Install special guarding that prevents the operator from reaching into restricted areas
of the work envelope.
Use interlocks.
Use presence or proximity sensing devices such as light curtains, mats, and
capacitance and vision systems to enhance safety.
Periodically check the safety joints or safety clutches that can be optionally installed
between the robot wrist flange and tooling. If the tooling strikes an object, these
devices dislodge, remove power from the system, and help to minimize damage to
the tooling and robot.
Make sure all external devices are properly filtered, grounded, shielded, and
suppressed to prevent hazardous motion due to the effects of electro-magnetic
interference (EMI), radio frequency interference (RFI), and electro-static discharge
(ESD).
Make provisions for power lockout/tagout at the controller.
Eliminate pinch points. Pinch points are areas where personnel could get trapped
between a moving robot and other equipment.
Provide enough room inside the workcell to permit personnel to teach the robot and
perform maintenance safely.
Program the robot to load and unload material safely.
If high voltage electrostatics are present, be sure to provide appropriate interlocks,
warning, and beacons.
If materials are being applied at dangerously high pressure, provide electrical
interlocks for lockout of material flow and pressure.
Staying Safe While Teaching or Manually Operating the Robot
Advise all personnel who must teach the robot or otherwise manually operate the robot to
observe the following rules:
Never wear watches, rings, neckties, scarves, or loose clothing that could get caught
in moving machinery.
Know whether or not you are using an intrinsically safe teach pendant if you are
working in a hazardous environment.
iii
Safety
Before teaching, visually inspect the robot and work envelope to make sure that no
potentially hazardous conditions exist. The work envelope is the area defined by the
maximum motion range of the robot. These include tooling attached to the wrist
flange that extends this range.
The area near the robot must be clean and free of oil, water, or debris. Immediately
report unsafe working conditions to the supervisor or safety department.
FANUC Robotics recommends that no one enter the work envelope of a robot that is
on, except for robot teaching operations. However, if you must enter the work
envelope, be sure all safeguards are in place, check the teach pendant DEADMAN
switch for proper operation, and place the robot in teach mode. Take the teach
pendant with you, turn it on, and be prepared to release the DEADMAN switch.
Only the person with the teach pendant should be in the work envelope.
WARNING
Never bypass, strap, or otherwise deactivate a safety device, such as a limit switch,
for any operational convenience. Deactivating a safety device is known to have
resulted in serious injury and death.
Know the path that can be used to escape from a moving robot; make sure the escape
path is never blocked.
Isolate the robot from all remote control signals that can cause motion while data is
being taught.
Test any program being run for the first time in the following manner:
WARNING
Stay outside the robot work envelope whenever a program is being run. Failure to do
so can result in injury.
- Using a low motion speed, single step the program for at least one full cycle.
- Using a low motion speed, test run the program continuously for at least one
full cycle.
- Using the programmed speed, test run the program continuously for at least
one full cycle.
Make sure all personnel are outside the work envelope before running production.
Staying Safe During Automatic Operation
Advise all personnel who operate the robot during production to observe the following
rules:
Make sure all safety provisions are present and active.
iv
Safety
Know the entire workcell area. The workcell includes the robot and its work
envelope, plus the area occupied by all external devices and other equipment with
which the robot interacts.
Understand the complete task the robot is programmed to perform before initiating
automatic operation.
Make sure all personnel are outside the work envelope before operating the robot.
Never enter or allow others to enter the work envelope during automatic operation of
the robot.
Know the location and status of all switches, sensors, and control signals that could
cause the robot to move.
Know where the EMERGENCY STOP buttons are located on both the robot control
and external control devices. Be prepared to press these buttons in an emergency.
Never assume that a program is complete if the robot is not moving. The robot could
be waiting for an input signal that will permit it to continue its activity.
If the robot is running in a pattern, do not assume it will continue to run in the same
pattern.
Never try to stop the robot, or break its motion, with your body. The only way to
stop robot motion immediately is to press an EMERGENCY STOP button located on
the controller panel, teach pendant, or emergency stop stations around the workcell.
Staying Safe During Inspection
When inspecting the robot, be sure to
Turn off power at the controller.
Lock out and tag out the power source at the controller according to the policies of
your plant.
Turn off the compressed air source and relieve the air pressure.
If robot motion is not needed for inspecting the electrical circuits, press the
EMERGENCY STOP button on the operator panel.
Never wear watches, rings, neckties, scarves, or loose clothing that could get caught
in moving machinery.
If power is needed to check the robot motion or electrical circuits, be prepared to
press the EMERGENCY STOP button, in an emergency.
Be aware that when you remove a servomotor or brake, the associated robot arm will
fall if it is not supported or resting on a hard stop. Support the arm on a solid support
before you release the brake.
Staying Safe During Maintenance
When performing maintenance on your robot system, observe the following rules:
Never enter the work envelope while the robot or a program is in operation.
Before entering the work envelope, visually inspect the workcell to make sure no
potentially hazardous conditions exist.
v
Safety
Never wear watches, rings, neckties, scarves, or loose clothing that could get caught
in moving machinery.
Consider all or any overlapping work envelopes of adjoining robots when standing in
a work envelope.
Test the teach pendant for proper operation before entering the work envelope.
If it is necessary for you to enter the robot work envelope while power is turned on,
you must be sure that you are in control of the robot. Be sure to take the teach
pendant with you, press the DEADMAN switch, and turn the teach pendant on. Be
prepared to release the DEADMAN switch to turn off servo power to the robot
immediately.
Whenever possible, perform maintenance with the power turned off. Before you
open the controller front panel or enter the work envelope, turn off and lock out the
3-phase power source at the controller.
Be aware that when you remove a servomotor or brake, the associated robot arm will
fall if it is not supported or resting on a hard stop. Support the arm on a solid support
before you release the brake.
WARNING
Lethal voltage is present in the controller WHENEVER IT IS CONNECTED to a
power source. Be extremely careful to avoid electrical shock. HIGH VOLTAGE IS
PRESENT at the input side whenever the controller is connected to a power
source. Turning the disconnect or circuit breaker to the OFF position removes
power from the output side of the device only.
Release or block all stored energy. Before working on the pneumatic system, shut
off the system air supply and purge the air lines.
Isolate the robot from all remote control signals. If maintenance must be done when
the power is on, make sure the person inside the work envelope has sole control of
the robot. The teach pendant must be held by this person.
Make sure personnel cannot get trapped between the moving robot and other
equipment. Know the path that can be used to escape from a moving robot. Make
sure the escape route is never blocked.
Use blocks, mechanical stops, and pins to prevent hazardous movement by the robot.
Make sure that such devices do not create pinch points that could trap personnel.
WARNING
Do not try to remove any mechanical component from the robot before thoroughly
reading and understanding the procedures in the appropriate manual. Doing so can
result in serious personal injury and component destruction.
vi
Safety
Be aware that when you remove a servomotor or brake, the associated robot arm will
fall if it is not supported or resting on a hard stop. Support the arm on a solid support
before you release the brake.
When replacing or installing components, make sure dirt and debris do not enter the
system.
Use only specified parts for replacement. To avoid fires and damage to parts in the
controller, never use nonspecified fuses.
Before restarting a robot, make sure no one is inside the work envelope; be sure that
the robot and all external devices are operating normally.
KEEPING MACHINE TOOLS AND EXTERNAL DEVICES SAFE
Certain programming and mechanical measures are useful in keeping the machine tools
and other external devices safe. Some of these measures are outlined below. Make sure
you know all associated measures for safe use of such devices.
Programming Safety Precautions
Implement the following programming safety measures to prevent damage to machine
tools and other external devices.
Back-check limit switches in the workcell to make sure they do not fail.
Implement ‘‘failure routines” in programs that will provide appropriate robot actions
if an external device or another robot in the workcell fails.
Use handshaking protocol to synchronize robot and external device operations.
Program the robot to check the condition of all external devices during an operating
cycle.
Mechanical Safety Precautions
Implement the following mechanical safety measures to prevent damage to machine tools
and other external devices.
Make sure the workcell is clean and free of oil, water, and debris.
Use DCS (Dual Check Safety), software limits, limit switches, and mechanical
hardstops to prevent undesired movement of the robot into the work area of machine
tools and external devices.
vii
Safety
KEEPING THE ROBOT SAFE
Observe the following operating and programming guidelines to prevent damage to the
robot.
Operating Safety Precautions
The following measures are designed to prevent damage to the robot during operation.
Use a low override speed to increase your control over the robot when jogging the
robot.
Visualize the movement the robot will make before you press the jog keys on the
teach pendant.
Make sure the work envelope is clean and free of oil, water, or debris.
Use circuit breakers to guard against electrical overload.
Programming Safety Precautions
The following safety measures are designed to prevent damage to the robot during
programming:
Establish interference zones to prevent collisions when two or more robots share a
work area.
Make sure that the program ends with the robot near or at the home position.
Be aware of signals or other operations that could trigger operation of tooling
resulting in personal injury or equipment damage.
In dispensing applications, be aware of all safety guidelines with respect to the
dispensing materials.
NOTE: Any deviation from the methods and safety practices described in this manual
must conform to the approved standards of your company. If you have questions, see
your supervisor.
ADDITIONAL SAFETY CONSIDERATIONS FOR PAINT ROBOT
INSTALLATIONS
Process technicians are sometimes required to enter the paint booth, for example, during
daily or routine calibration or while teaching new paths to a robot. Maintenance
personnel also must work inside the paint booth periodically.
Whenever personnel are working inside the paint booth, ventilation equipment must be
used. Instruction on the proper use of ventilating equipment usually is provided by the
paint shop supervisor.
viii
Safety
Although paint booth hazards have been minimized, potential dangers still exist.
Therefore, today’s highly automated paint booth requires that process and maintenance
personnel have full awareness of the system and its capabilities. They must understand
the interaction that occurs between the vehicle moving along the conveyor and the
robot(s), hood/deck and door opening devices, and high-voltage electrostatic tools.
CAUTION
Ensure that all ground cables remain connected. Never operate the paint robot with
ground provisions disconnected. Otherwise, you could injure personnel or damage
equipment.
Paint robots are operated in three modes:
Teach or manual mode
Automatic mode, including automatic and exercise operation
Diagnostic mode
During both teach and automatic modes, the robots in the paint booth will follow a
predetermined pattern of movements. In teach mode, the process technician teaches
(programs) paint paths using the teach pendant.
In automatic mode, robot operation is initiated at the System Operator Console (SOC) or
Manual Control Panel (MCP), if available, and can be monitored from outside the paint
booth. All personnel must remain outside of the booth or in a designated safe area within
the booth whenever automatic mode is initiated at the SOC or MCP.
In automatic mode, the robots will execute the path movements they were taught during
teach mode, but generally at production speeds.
When process and maintenance personnel run diagnostic routines that require them to
remain in the paint booth, they must stay in a designated safe area.
Paint System Safety Features
Process technicians and maintenance personnel must become totally familiar with the
equipment and its capabilities. To minimize the risk of injury when working near robots
and related equipment, personnel must comply strictly with the procedures in the
manuals.
This section provides information about the safety features that are included in the paint
system and also explains the way the robot interacts with other equipment in the system.
The paint system includes the following safety features:
Most paint booths have red warning beacons that illuminate when the robots are
armed and ready to paint. Your booth might have other kinds of indicators. Learn
what these are.
ix
Safety
Some paint booths have a blue beacon that, when illuminated, indicates that the
electrostatic devices are enabled. Your booth might have other kinds of indicators.
Learn what these are.
EMERGENCY STOP buttons are located on the robot controller and teach pendant.
Become familiar with the locations of all E-STOP buttons.
An intrinsically safe teach pendant is used when teaching in hazardous paint
atmospheres.
A DEADMAN switch is located on each teach pendant. When this switch is held in,
and the teach pendant is on, power is applied to the robot servo system. If the
engaged DEADMAN switch is released or pressed harder during robot operation,
power is removed from the servo system, all axis brakes are applied, and the robot
comes to an EMERGENCY STOP. Safety interlocks within the system might also
E-STOP other robots.
WARNING
An EMERGENCY STOP will occur if the DEADMAN switch is released on a bypassed
robot.
Overtravel by robot axes is prevented by software limits. All of the major and minor
axes are governed by software limits. DCS (Dual Check Safety), limit switches and
hardstops also limit travel by the major axes.
EMERGENCY STOP limit switches and photoelectric eyes might be part of your
system. Limit switches, located on the entrance/exit doors of each booth, will
EMERGENCY STOP all equipment in the booth if a door is opened while the system
is operating in automatic or manual mode. For some systems, signals to these
switches are inactive when the switch on the SOC is in teach mode.
When present, photoelectric eyes are sometimes used to monitor unauthorized
intrusion through the entrance/exit silhouette openings.
System status is monitored by computer. Severe conditions result in automatic
system shutdown.
Staying Safe While Operating the Paint Robot
When you work in or near the paint booth, observe the following rules, in addition to all
rules for safe operation that apply to all robot systems.
WARNING
Observe all safety rules and guidelines to avoid injury.
x
Safety
WARNING
Never bypass, strap, or otherwise deactivate a safety device, such as a limit switch,
for any operational convenience. Deactivating a safety device is known to have
resulted in serious injury and death.
WARNING
Enclosures shall not be opened unless the area is known to be nonhazardous or
all power has been removed from devices within the enclosure. Power shall not be
restored after the enclosure has been opened until all combustible dusts have
been removed from the interior of the enclosure and the enclosure purged. Refer
to the Purge chapter for the required purge time.
Know the work area of the entire paint station (workcell).
Know the work envelope of the robot and hood/deck and door opening devices.
Be aware of overlapping work envelopes of adjacent robots.
Know where all red, mushroom-shaped EMERGENCY STOP buttons are located.
Know the location and status of all switches, sensors, and/or control signals that
might cause the robot, conveyor, and opening devices to move.
Make sure that the work area near the robot is clean and free of water, oil, and debris.
Report unsafe conditions to your supervisor.
Become familiar with the complete task the robot will perform BEFORE starting
automatic mode.
Make sure all personnel are outside the paint booth before you turn on power to the
robot servo system.
Never enter the work envelope or paint booth before you turn off power to the robot
servo system.
Never enter the work envelope during automatic operation unless a safe area has been
designated.
Never wear watches, rings, neckties, scarves, or loose clothing that could get caught
in moving machinery.
Remove all metallic objects, such as rings, watches, and belts, before entering a
booth when the electrostatic devices are enabled.
Stay out of areas where you might get trapped between a moving robot, conveyor, or
opening device and another object.
Be aware of signals and/or operations that could result in the triggering of guns or
bells.
Be aware of all safety precautions when dispensing of paint is required.
Follow the procedures described in this manual.
xi
Safety
Special Precautions for Combustible Dusts (Powder Paint)
When the robot is used in a location where combustible dusts are found, such as the
application of powder paint, the following special precautions are required to insure that
there are no combustible dusts inside the robot.
Purge maintenance air should be maintained at all times, even when the robot power
is off. This will insure that dust can not enter the robot.
A purge cycle will not remove accumulated dusts. Therefore, if the robot is exposed
to dust when maintenance air is not present, it will be necessary to remove the covers
and clean out any accumulated dust. Do not energize the robot until you have
performed the following steps.
1. Before covers are removed, the exterior of the robot should be cleaned to remove
accumulated dust.
2. When cleaning and removing accumulated dust, either on the outside or inside of the
robot, be sure to use methods appropriate for the type of dust that exists. Usually lint
free rags dampened with water are acceptable. Do not use a vacuum cleaner to
remove dust as it can generate static electricity and cause an explosion unless special
precautions are taken.
3. Thoroughly clean the interior of the robot with a lint free rag to remove any
accumulated dust.
4. When the dust has been removed, the covers must be replaced immediately.
5. Immediately after the covers are replaced, run a complete purge cycle. The robot can
now be energized.
Staying Safe While Operating Paint Application Equipment
When you work with paint application equipment, observe the following rules, in
addition to all rules for safe operation that apply to all robot systems.
WARNING
When working with electrostatic paint equipment, follow all national and local codes
as well as all safety guidelines within your organization. Also reference the
following standards: NFPA 33 Standards for Spray Application Using Flammable or
Combustible Materials, and NFPA 70 National Electrical Code.
Grounding: All electrically conductive objects in the spray area must be grounded.
This includes the spray booth, robots, conveyors, workstations, part carriers, hooks,
paint pressure pots, as well as solvent containers. Grounding is defined as the object
or objects shall be electrically connected to ground with a resistance of not more than
1 megohms.
High Voltage: High voltage should only be on during actual spray operations.
Voltage should be off when the painting process is completed. Never leave high
voltage on during a cap cleaning process.
Avoid any accumulation of combustible vapors or coating matter.
Follow all manufacturer recommended cleaning procedures.
Make sure all interlocks are operational.
xii
Safety
No smoking.
Post all warning signs regarding the electrostatic equipment and operation of
electrostatic equipment according to NFPA 33 Standard for Spray Application Using
Flammable or Combustible Material.
Disable all air and paint pressure to bell.
Verify that the lines are not under pressure.
Staying Safe During Maintenance
When you perform maintenance on the painter system, observe the following rules, and
all other maintenance safety rules that apply to all robot installations. Only qualified,
trained service or maintenance personnel should perform repair work on a robot.
Paint robots operate in a potentially explosive environment. Use caution when
working with electric tools.
When a maintenance technician is repairing or adjusting a robot, the work area is
under the control of that technician. All personnel not participating in the
maintenance must stay out of the area.
For some maintenance procedures, station a second person at the control panel within
reach of the EMERGENCY STOP button. This person must understand the robot
and associated potential hazards.
Be sure all covers and inspection plates are in good repair and in place.
Always return the robot to the ‘‘home’’ position before you disarm it.
Never use machine power to aid in removing any component from the robot.
During robot operations, be aware of the robot’s movements. Excess vibration,
unusual sounds, and so forth, can alert you to potential problems.
Whenever possible, turn off the main electrical disconnect before you clean the robot.
When using vinyl resin observe the following:
- Wear eye protection and protective gloves during application and removal.
- Adequate ventilation is required. Overexposure could cause drowsiness or
skin and eye irritation.
- If there is contact with the skin, wash with water.
- Follow the Original Equipment Manufacturer’s Material Safety Data Sheets.
When using paint remover observe the following:
- Eye protection, protective rubber gloves, boots, and apron are required
during booth cleaning.
- Adequate ventilation is required. Overexposure could cause drowsiness.
- If there is contact with the skin or eyes, rinse with water for at least 15
minutes. Then seek medical attention as soon as possible.
- Follow the Original Equipment Manufacturer’s Material Safety Data Sheets.
xiii
B-61813E/06
SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
Described below are the safety precautions regarding the FANUC I/O Unit-MODEL A. The safety
precautions must be observed in order to use the FANUC I/O Unit-MODEL A safely.
Because installing, and performing exchange and daily maintenance operations on, the FANUC I/O
Unit-MODEL A may incur diverse dangers, you cannot be involved in such work unless you have been
sufficiently trained for safety.
Some of the safety precautions may not apply to your FANUC I/O Unit-MODEL A because it has no
corresponding function. If this is the case, skip reading those precautions.
As for safety precautions regarding machine tools, refer to the respective machine manuals provided by
the machine tool builders.
Before starting to operate machines for check purposes, be sure to read the manuals provided by the
machine tool builders and FANUC and sufficiently understand their descriptions.
Contents
DEFINITION OF WARNING, CAUTION, AND NOTE
s-1
WARNINGS AND CAUTIONS REGARDING MOUNTING, WIRING, AND EXCHANGING
s-2
WARNINGS AND CAUTIONS REGARDING DESIGNING
s-4
WARNINGS REGARDING DAILY MAINTENANCE
s-6
DEFINITION OF WARNING, CAUTION, AND NOTE
This manual includes safety precautions for protecting the user and preventing damage to the machine.
Precautions are classified into Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly
before attempting to use the machine.
WARNING
Applied when there is a danger of the user being injured or when there is a
damage of both the user being injured and the equipment being damaged if the
approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment being damaged, if the
approved procedure is not observed.
NOTE
The Note is used to indicate supplementary information other than Warning and
Caution.
* Read this manual carefully, and store it in a safe place.
* This manual is subject to change for product improvement, alteration of the product specifications,
and improvement in the user-friendliness of the manual. See “Revision Record” at the end of the
manual.
s-1
SAFETY PRECAUTIONS
B-61813E/06
WARNINGS AND CAUTIONS REGARDING MOUNTING, WIRING,
AND EXCHANGING
WARNING
1
Before starting mounting, wiring, and exchanging, be sure to shut off externally
supplied power. Otherwise, electrical shocks, breakdown, and blowout may
occur. If the FANUC I/O Unit-MODEL A is turned off but other units are not, for
example, it is likely that power may be supplied to units connected to the FANUC
I/O Unit-MODEL A, resulting in the units being damaged and workers getting
electrical shocks when the units are exchanged.
2
Be sure to ground your FANUC I/O Unit-MODEL A in accordance with your
national grounding standards (protective grounding class C or stricter).
Otherwise, electrical shocks, malfunction, and breakdown may occur.
3
In unit exchange, a new unit should have the same specifications and parameter
settings as in the unit to be removed. (For details, reference the section or item
of the respective units.) Operating the newly installed unit without observing this
caution will cause the machine to behave unexpectedly, possibly leading to a
damaged workpiece or machine or injury.
4
Wiring work for the FANUC I/O Unit-MODEL A must be done only after it has
been installed. Otherwise, electrical shocks can occur.
5
Be careful not to damage cables. Otherwise, electrical shocks can occur.
6
When working, wear suitable clothes with safety taken into account. Otherwise,
injury and electrical shocks can occur.
7
Do not touch the electronic circuitry in any module directly with the hand. Static
electricity can damage the module and cause burn injury.
8
Do not work with your hands wet. Otherwise, electrical shocks and damage to
electrical circuits can occur.
9
Be sure to attach a terminal cover to each terminal board. Otherwise, electrical
shocks and malfunction can occur.
10 Only those who have pragmatic information regarding handling of control units
are allowed to install, wire, use, and maintain the FANUC I/O Unit-MODEL A.
Incorrect handling of this equipment can lead to electrical shocks, fire,
breakdown, and malfunction. Do not install, wire, use, or maintain the FANUC
I/O Unit-MODEL A unless you have sufficient knowledge of how to handle
control units and of electricity.
s-2
B-61813E/06
SAFETY PRECAUTIONS
CAUTION
Failing to observe any caution stated below can lead to fire, breakdown, blowout,
and malfunction.
1 Always use PC boards and modules developed for use on the FANUC I/O
Unit-MODEL A.
2 Do not use any unit or component if it was found to be damaged or deformed
when it was unpacked. Otherwise, fire, malfunction, and failure can occur.
3 Do not attach the FANUC I/O Unit-MODEL A to any flammable object or
install it near any flammable object.
4 Do not allow any foreign matter (such as a screw, metal chip, or coolant) to
get in the FANUC I/O Unit-MODEL A.
5 Handle the FANUC I/O Unit-MODEL A gently because it is a precision
device. Be careful not to drop it or give a high impact to it.
6 Allow space for natural convection cooling above and below the FANUC I/O
Unit-MODEL A so that each module in it can release heat.
7 When installing the FANUC I/O Unit-MODEL A, pay attention to its mass and
the tension of cables to be attached to it.
8 Always use wires whose length, diameter, heat resistance, and flex
resistance match their use.
9 When making a cable assembly, crimp, press-mount, or solder the wires,
using the tool specified by the cable manufacturer. An improper cable
connection can lead to a broken wire, short circuit, fire, and malfunction. Do
not connect any untreated wire (such as only twisted) strands directly to a
terminal board.
10 When fastening the FANUC I/O Unit-MODEL A and its wires, tighten their
screws with the specified torque. Otherwise, the FANUC I/O Unit-MODEL A
may fall, break down, or malfunction or wires may be short-circuited. Do not
forget to attach screws.
11 Before wiring modules, check their voltage rating and pin arrangement and
be sure to meet the requirements. If a module is connected to a power supply
having a different voltage rating or is wired incorrectly, fire or failure can
occur.
12 When detaching a cable from the FANUC I/O Unit-MODEL A, hold the
connector rather than the cable. When attaching a cable, be sure to fit its
connector to the connector pins securely. For connectors having a lock
mechanism, be sure to lock them securely. An improper connection can lead
to a broken wire, short circuit, fire, and malfunction.
13 Lay signal wires away from power wires as stated in this manual.
14 As for the shielding wires of the cables specified herein, securely ground
them, using, for example, cable clamps.
15 Use single-point grounding for multiple units so that no noise current will flow
through the ground line among them. However, both ends grounding or both
ends opening may be more effective for some environments in which the
units are used. Select the grounding type whichever is applicable to
surrounding noise.
16 In taking an anti-noise measure regarding wiring work, an empirical approach
is needed to a large degree. It is necessary to take action using a well
managed organization according to manuals and other written information.
s-3
SAFETY PRECAUTIONS
B-61813E/06
WARNINGS AND CAUTIONS REGARDING DESIGNING
WARNING
1
When designing, be sure to observe all rules stated in this document and any
related manuals. Otherwise, it is likely that failure and malfunction may occur.
2
When using any FANUC product in a manner in which their use may incur
significant hazard to human life and assets, previously make sure that the
system containing the FANUC product has been designed in such a way that it
can warn of any danger and its redundant design assures of a satisfactory safety
and that the FANUC product is installed and powered properly for its intended
use in the system.
3
Failures in the I/O units of the FANUC I/O Unit-MODEL A as well as input power
abnormality and communication failures can hamper the normal operation of
these I/O units. Design each I/O unit in such a way that the machine can operate
safely, for example, by providing an external safety circuit to the I/O units so that
no accident will occur even if the I/O units fail to operate normally.
Using the dual check safety function makes it possible to detect a single fault in
a portion related to safety. For details of the dual check safety function, refer to
the document on the dual safety function of your CNC unit.
4
The DO function of each I/O unit has been designed in such a way that, if a
system alarm is issued in the CNC unit that controls the FANUC I/O
Unit-MODEL A or the power of the CNC unit or the FANUC I/O Unit-MODEL A is
turned off, the DO function of all the I/O units is turned off. However, it is not
guaranteed that the DO function is surely turned off. So, it is requested that, if a
signal regarding safety is involved, a safety circuit external to each I/O unit must
be configured.
5
If the load current of an output module exceeds its rating for a long time for any
reason, it is likely that smoke and fire may occur. So, it is recommended to
provide an external safety circuit including a fuse etc.
6
Do not use the power supply for driving relays to perform interlock with external
loads.
s-4
B-61813E/06
SAFETY PRECAUTIONS
WARNING
7
Coolants containing sulfur or chlorine at a high activation level, an oil-free
coolant called synthetic, and water-soluble coolants at a high alkali level, in
particular, can largely affect the FANUC I/O Unit-MODEL A. Please note that the
following trouble is likely to occur.
• Coolants containing sulfur or chlorine at a high activation level
Some coolants containing sulfur or chlorine are at an extremely high activity
level. If such a coolant adheres to the FANUC I/O Unit-MODEL A, it reacts
chemically with a material, such as resin of the equipment, possibly leading to
corrosion or deterioration. If it gets in the FANUC I/O Unit-MODEL A, it
corrodes metals, such as copper and silver, used as component materials,
possibly leading to a defective component.
• Synthetic-type coolants having a high permeability
Some synthetic-type coolants whose lubricating component is, for example,
PAG (polyalkylene glycol) have an extremely high permeability. If such a
coolant is used even in equipment having a high closeness, it can readily flow
into the equipment through, for example, gaskets. It is likely that, if the
coolant gets in the FANUC I/O Unit-MODEL A, it may deteriorate its
insulation and damage its components.
• Water-soluble coolants at a high alkali level
Some coolants whose pH is increased using alkanolamine are so strongly
alkali that its standard dilution will lead to pH10 or higher. If such a coolant
spatters over the surface of the FANUC I/O Unit-MODEL A, it reacts
chemically with a material, such as resin, possibly leading to corrosion or
deterioration.
CAUTION
1
Install the FANUC I/O Unit-MODEL A in such a place that neither cutting chip
nor coolant will spatter to them. Otherwise, damage or malfunction may occur.
2
When using the FANUC I/O Unit-MODEL A, observe its rated voltage and
current described in this manual. Otherwise, fire, malfunction, and failure can
occur.
3
Keep in mind that, if the FANUC I/O Unit-MODEL A is used outside its
specification described in this manual or altered by the user, its functions and
performance will not be guaranteed.
s-5
SAFETY PRECAUTIONS
B-61813E/06
WARNINGS REGARDING DAILY MAINTENANCE
WARNING
1 Before replacing a blown fuse, it is necessary to remove the cause of the blown
fuse. So, do not replace fuses unless you have been well informed of
maintenance work and safety.
2 Some modules of the FANUC I/O Unit-MODEL A have radiating fins. They can
remain very hot for a while after power has been removed from the FANUC I/O
Unit-MODEL A, making you get burned if you touch them. Before starting to
work on them, wait and make sure they are cool.
3 To maintain a normal condition of the system and protect it from trouble, perform
daily and periodical checks on it and do the sweeping. If you notice an apparent
hardware fault, such as abnormal noise, abnormal odor, smoke, ignition, or
abnormal heat, in the hardware while power is being supplied to it, shut it off at
once and contact a FANUC branch office nearby or your FANUC service
representative. These faults can cause fire, breakdown, blowout, and
malfunction.
s-6
B-61813E/06
PREFACE
PREFACE
Applicable models
This manual describe the following products.
The abbreviations listed below may be used in the body text of this manual.
Name of products
Abbreviation
FANUC I/O Unit-MODEL A
I/O Unit-A
Applicable CNCs
Name of products
Abbreviation
FANUC Power Mate
Power Mate
FANUC Series 0 (MODEL C)
Series 0-C
FANUC Series 15
Series 15
FANUC Series 16
Series 16
FANUC Series 18
Series 18
FANUC Series 20
Series 20
FANUC Series 21
Series 21
FANUC SYSTEM F-MODEL D Mate
F-D Mate
FANUC Power Mate i
Power Mate i
FANUC Series 0i
Series 0i
FANUC Series 15i
Series 15i
FANUC Series 16i
Series 16i
FANUC Series 18i
Series 18i
FANUC Series 20i
Series 20i
FANUC Series 21i
Series 21i
FANUC Series 30i
Series 30i
FANUC Series 31i
Series 31i
FANUC Series 32i
Series 32i
FANUC Series 35i
Series 35i
Power Mate i , Series 0i / 15i / 16i / 18i / 20i / 21i / 30i / 31i / 32i / 35i
i series CNC
Other related models
Name of products
Abbreviation
FANUC I/O Unit-MODEL B
I/O Unit-B
Abbreviations of manufacturer names used herein
This manual uses the following abbreviations for manufacturers of products such as connectors.
Manufacturer name
Abbreviation
Daito Communication Apparatus Co., Ltd.
Daito
Fujitsu Limited
Fujitsu
HIROSE ELECTRIC CO., LTD.
HIROSE ELECTRIC
HONDA TSUSHIN KOGYO CO., LTD.
HONDA TSUSHIN
Molex Incorporated
Molex
Nihon Weidmüller Co., Ltd.
Weidmüller
SORIAU JAPAN
SORIAU JAPAN
Tyco Electronics AMP K.K.
Tyco Electronics
p-1
B-61813E/06
TABLE OF CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS
s-1
DEFINITION OF WARNING, CAUTION, AND NOTE
s-1
WARNINGS AND CAUTIONS REGARDING MOUNTING, WIRING, AND
EXCHANGING
s-2
WARNINGS AND CAUTIONS REGARDING DESIGNING
s-4
WARNINGS REGARDING DAILY MAINTENANCE
s-6
PREFACE
p-1
I. CONNECTION
1
FANUC I/O Link i AND FANUC I/O Link
3
1.1
HAVING THE I/O Unit-A SUPPORT I/O Link i
4
1.2
CONFIGURATION
5
1.3
ALLOCATION OF I/O POINTS
6
2
I/O Unit CONFIGURATION
8
3
INSTALLATION
9
3.1
ENVIRONMENT FOR INSTALLATION
9
3.1.1
Environmental Conditions inside the Cabinet
9
3.2
DESIGNING CONDITION FOR A CABINET
10
3.3
OUTER DIMENSION OF I/O Unit
10
3.4
HEAT VALUE AND WEIGHT OF EACH MODULE
12
3.5
MOUNTING AND DISMOUNTING MODULES
13
4
CONNECTION
14
4.1
GENERAL CONNECTION DIAGRAM
14
4.2
CONNECTING INPUT POWER SOURCE
16
4.3
GROUNDING
18
4.4
REQUIRED CURRENT
20
4.5
INTERFACE MODULE (AIF01A, AIF01A2, AIF01B)
21
4.6
INTERFACE MODULE (AIF02C) CONNECTION
24
4.6.1
Overview
24
4.6.2
Connection
25
4.6.3
Setting with the DIP Switch
26
4.7
INTERFACE MODULE (AIF01D) CONNECTION
27
4.8
CONNECTING WITH I/O MODULES
28
5
DIGITAL INPUT/OUTPUT MODULES
30
5.1
LIST OF MODULES
30
5.2
CORRESPONDENCE BETWEEN I/O SIGNALS AND ADDRESSES IN A
MODULE
34
5.2.1
Module with 16/32 Digital Inputs (DI)
34
5.2.2
Module with 5/8/12/16/32 Digital Outputs (DO)
34
5.2.3
AIO40A Module (Hybrid Module with 24 Input and 16 Output Points)
34
5.3
SPECIFICATION FOR EACH MODULE
35
c-1
TABLE OF CONTENTS
B-61813E/06
5.3.1
AID32A1 (Non-insulation Type) - Input Module
36
5.3.2
AID32B1 (Non-insulation Type) - Input Module
37
5.3.3
AID32H1 (Non-insulation Type) - Input Module
38
5.3.4
AID16C - Input Module
39
5.3.5
AID16K - Input Module
40
5.3.6
AID16D - Input Module
41
5.3.7
AID16L - Input Module
42
5.3.8
AID16DM - Input Module
43
5.3.9
AID16LM - Input Module
44
5.3.10
AID32E1 - Input Module
46
5.3.11
AID32E2 - Input Module
47
5.3.12
AID32F1 - Input Module
48
5.3.13
AID32F2 - Input Module
49
5.3.14
AIA16G - Input Module
50
5.3.15
AOD32A1 (Non-insulation Type) - Output Module
51
5.3.16
AOD08C - Output Module
52
5.3.17
AOD08D - Output Module
53
5.3.18
AOD08DP - Output Module
54
5.3.19
AOD16C - Output Module
56
5.3.20
AOD16D - Output Module
57
5.3.21
AOD16DM - Output Module
58
5.3.22
AOD16D2 - Output Module
60
5.3.23
AOD16D3 - Output Module
61
5.3.24
AOD16DP - Output Module
62
5.3.25
AOD32C1 - Output Module
63
5.3.26
AOD32C2 - Output Module
64
5.3.27
AOD32D1 - Output Module
65
5.3.28
AOD32D2 - Output Module
66
5.3.29
AOA05E - Output Module
67
5.3.30
AOA08E - Output Module
68
5.3.31
AOA12F - Output Module
69
5.3.32
AOR08G - Output Module
70
5.3.33
AOR16G - Output Module
71
5.3.34
AOR16H2 - Output Module
72
5.3.35
AIO40A - Input/output Module
73
5.4
CAUTIONS REGARDING EACH INPUT/OUTPUT MODULE
75
5.4.1
Cautions Regarding Input Modules
75
5.4.2
Cautions Regarding Output Modules
75
5.4.3
Cautions Regarding Relay Modules
76
5.4.4
Derating
77
5.5
DETAILS OF I/O Unit CONNECTORS (HONDA TSUSHIN/HIROSE
ELECTRIC) AND TERMINAL BLOCK (WEIDMÜLLER)
78
5.5.1
Modules Using the MR-50RMA Connector Manufactured by Honda Tsushin
78
5.5.2
Modules Using the HIF3BB-50PA-2.54DS Connector Manufactured by Hirose
Electric
81
5.5.3
Modules Using the HIF4-40P-3.18DS Connector Manufactured by Hirose
Electric
83
5.5.4
Modules Using the Terminal Block BL3.5/24/90F Manufactured by Weidmüller84
6
ANALOG INPUT MODULE
85
6.1
12-BIT ANALOG INPUT MODULE (AAD04A)
85
6.1.1
Specifications
85
6.1.2
Correspondence between Input Signals and Addresses in a Module
86
6.1.3
Connecting with Analog Input Module
87
c-2
B-61813E/06
TABLE OF CONTENTS
6.2
16-BIT ANALOG INPUT MODULE (AAD04B)
88
6.2.1
Specifications
88
6.2.2
Correspondence between Input Signals and Addresses in a Module
89
6.2.3
Connecting with Analog Input Module
91
7
ANALOG OUTPUT MODULE
92
7.1
12-BIT ANALOG OUTPUT MODULE (ADA02A)
92
7.1.1
Specification
92
7.1.2
Correspondence between Output Signals and Addresses in a Module
93
7.1.3
Connection to Analog Output Module
94
7.2
14-BIT ANALOG OUTPUT MODULE (ADA02B)
95
7.2.1
Specification
95
7.2.2
Correspondence between Output Signals and Addresses in the Module
96
7.2.3
Connection between the Analog Output Module and Load
97
8
HIGH-SPEED COUNTER MODULE
98
8.1
OUTLINE OF HIGH-SPEED COUNTER MODULE
98
8.2
SPECIFICATIONS OF HIGH-SPEED COUNTER MODULE
101
8.2.1
Pulse Counter
101
8.2.2
Comparison Function
101
8.2.3
Pulse Interface
103
8.2.4
External Contact Input
104
8.2.5
External Contact Output
105
8.2.6
Marker Processing
105
8.2.7
LED indicators
106
8.3
PMC INTERFACE
107
8.3.1
Mode A
107
8.3.2
Mode B
108
8.3.3
Details of PMC Interface Signals
111
8.4
TOTAL CONNECTION OF HIGH-SPEED COUNTER MODULE
113
8.4.1
Connection Diagram
113
8.4.2
Connector Signal List
113
8.4.2.1
C49 signal (for mode A)
114
8.4.2.2
C49 signal (for mode B)
114
8.5
CONNECTION WITH PULSE GENERATOR
115
8.5.1
Use of Phase A and B Pulses
115
8.5.2
Use of Positive/Negative Pulses
116
8.6
CONNECTION WITH MACHINE (POWER MAGNETICS CABINET)
117
8.6.1
Use in Mode A
117
8.6.2
Use in Mode B
118
8.7
I/O SIGNALS CONVENTIONS
119
8.7.1
Solid State Relay Output Signals (OUT0 to OUT7)
119
8.7.2
DC Input Signals (ME and CSP)
120
8.7.3
+5-V Output from JA9 Connector
120
8.8
SUPPLEMENT
121
8.8.1
Configuration of Mode A
121
8.8.2
Counter Presetting and Counting
121
8.8.3
Setting Data
123
8.8.4
Reading Data
124
8.9
EXAMPLE OF STARTING UP ACT01A
125
8.9.1
Mode A Startup Flowchart
125
8.9.2
Example of Mode A Ladder
126
8.9.3
Mode B Startup Flowchart
130
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TABLE OF CONTENTS
B-61813E/06
8.9.4
Example of Mode B Ladder
131
9
TEMPERATURE INPUT MODULE
138
9.1
OVERVIEW
138
9.2
TEMPERATURE INPUT MODULE SPECIFICATION
139
9.3
PMC INTERFACE
140
9.3.1
PMC I/O Area
140
9.3.2
Measurement Mode
140
9.3.3
Details of Output Signals (PMC → Temperature Module)
141
9.3.4
Details of Input Signals (Temperature Module → PMC)
142
9.4
COMPLETE CONNECTION OF TEMPERATURE INPUT MODULE
144
9.4.1
Temperature Input Module Connection Diagram
144
9.4.2
Connector Signal Lists
145
9.4.3
Terminal Unit Connection Diagram
146
9.5
TIMING CHARTS
147
9.6
MEASUREMENT EXAMPLES
148
9.7
TERMINAL UNIT DIMENSIONS
157
10
OPTICAL ADAPTER
158
10.1
SPECIFICATIONS OF THE OPTICAL ADAPTER FOR I/O Link
158
10.2
SPECIFICATIONS OF THE OPTICAL ADAPTER FOR I/O Link i
159
10.3
EXTERNAL DIMENSION OF OPTICAL ADAPTER
159
10.4
CONNECTION OF OPTICAL ADAPTER
160
10.5
POWER SOURCE OF OPTICAL ADAPTER
161
10.6
INSTALLATION CONDITIONS OF OPTICAL ADAPTER
161
10.7
CAUTIONS FOR USING OPTICAL ADAPTERS
161
10.7.1 When Using Optical Adapters in Configuring I/O Link i or I/O Link
161
10.7.2 When Using Two I/O Link i or I/O Link Channels
162
10.7.3 When Using Three I/O Link i or I/O Link Channels
163
10.8
OPTICAL FIBER CABLE
163
10.8.1 External View of Optical Fiber Cable
164
10.8.2 Notice of Optical Fiber Cable Handling
164
10.8.3 Optical Fiber Cable Clamping Method
165
10.8.4 Relay Using an Optical Fiber Junction Adapter
165
10.8.5 Maximum Transmission Distance by Optical Fiber Junction Cable
167
11
I/O Link DUMMY UNIT
168
11.1
OVERVIEW
168
11.2
SPECIFICATION: A13B-0167-B001
168
11.3
EXTERNAL DIMENSIONS
168
11.4
LED INDICATORS
168
11.5
WEIGHT
169
11.6
POWER REQUIREMENTS
169
11.7
INSTALLATION CONDITIONS
169
11.8
CONNECTION DIAGRAMS
169
11.8.1 When not Connecting FANUC I/O Link Dummy Units in Series
169
11.8.2 Connecting FANUC I/O Link Dummy Units in Series
170
11.8.3 Grounding
170
11.8.4 K3X Cable
170
c-4
B-61813E/06
TABLE OF CONTENTS
12
TWO-CHANNEL I/O Link CONNECTOR ADAPTER
172
12.1
OVERVIEW
172
12.2
SPECIFICATION: A20B-1007-0680
172
12.3
CONNECTION FOR USE OF TWO I/O Link i or I/O Link CHANNELS
172
12.4
CONNECTING THE CNC WITH TWO-CHANNEL I/O Link CONNECTOR
ADAPTER
173
12.5
CABLING
173
12.6
CONNECTING THE TWO-CHANNEL I/O Link CONNECTOR ADAPTER
TO I/O UNITS
174
12.7
CABLE LENGTH
174
12.8
INSTALLING TWO-CHANNEL I/O Link CONNECTOR ADAPTER
174
12.9
OUTSIDE DIMENSIONS OF TWO-CHANNEL I/O Link CONNECTOR
ADAPTER
175
12.10 MOUNTING TWO-CHANNEL I/O Link CONNECTOR ADAPTER
175
13
THREE-CHANNEL I/O Link CONNECTOR ADAPTER
177
13.1
OVERVIEW
177
13.2
SPECIFICATION: A20B-1008-0360
177
13.3
CONNECTION FOR USE OF THREE FANUC I/O Link CHANNELS
177
13.4
CONNECTING THE CNC WITH THREE-CHANNEL I/O Link
CONNECTOR ADAPTER
178
13.5
CABLING
178
13.6
ALLOCATING THREE-CHANNEL I/O Link CONNECTOR ADAPTER
SIGNALS
179
13.7
CONNECTING THE THREE-CHANNEL I/O Link CONNECTOR
ADAPTER TO I/O UNITS
179
13.8
CONNECTING THREE-CHANNEL I/O Link CONNECTOR ADAPTER TO
TWO-CHANNEL I/O Link CONNECTOR ADAPTER
181
13.9
CABLE LENGTH
182
13.10
INSTALLING THREE-CHANNEL I/O Link CONNECTOR ADAPTER
182
13.11
OUTSIDE DIMENSIONS OF THREE-CHANNEL I/O Link CONNECTOR
ADAPTER
182
13.12 MOUNTING THREE-CHANNEL I/O Link CONNECTOR ADAPTER
183
14
SAFETY FOR USING AC
184
14.1
ENVIRONMENT FOR INSTALLATION
184
14.1.1 Installation Category (Overvoltage Category)
184
14.1.2 Pollution Degree
184
II. MAINTENANCE
1 OVERVIEW
187
1.1
SYSTEM CONFIGURATION
187
1.2
I/O Unit-A CONFIGURATION
188
1.3
BLOCK DIAGRAM
189
1.4
I/O Unit-MODEL A CONFORMING TO UL/C-UL
190
1.5
LIST OF UNITS
190
c-5
TABLE OF CONTENTS
B-61813E/06
1.5.1
Units Conforming to UL/C-UL Standard: Ordering Information
A03B-0819-Jxxx
190
1.5.2
Other Units
192
1.5.3
Early Units (Units not Conforming to UL/C-UL: Ordering Information
A03B-0807-Jxxx)
193
2
INDICATION
195
2.1
INTERFACE MODULE (AIF01A, AIF01A2) LED INDICATORS
195
2.2
INTERFACE MODULE (AIF01B) LED INDICATORS
197
2.3
INTERFACE MODULE (AIF02C) LED INDICATORS
198
2.3.1
PWR Indicator
198
2.3.2
LNK Indicators
198
2.3.3
ER Indicators
198
2.3.4
LED Indicators
198
2.3.5
M/S Indicator
199
2.3.6
No. Indicators
199
2.4
INTERFACE MODULE (AIF01D) LED INDICATORS
200
2.4.1
PWR Indicator
200
2.4.2
LINK Indicator
200
2.4.3
FUSE Indicator
200
2.4.4
ALM Indicator
201
2.5
LED INDICATORS ON THE INPUT/OUTPUT MODULES (HAVING 16 OR
FEWER INPUT/OUTPUT POINTS)
202
2.6
LED DISPLAY OF THE HIGH-SPEED COUNTER MODULE
202
3
FUSES
203
4
REMOVING PC BOARDS
204
4.1
HOW TO REMOVE TERMINAL BOARD-TYPE I/O MODULE PC
BOARDS
204
4.2
HOW TO REMOVE INTERFACE AND CONNECTOR-TYPE I/O MODULE
PC BOARDS
205
c-6
1.FANUC I/O Link i AND
B-61813E/06
CONNECTION
FANUC I/O Link
1 FANUC I/O Link i AND FANUC I/O Link
I/O Link i and I/O Link are a serial interface with a purpose to transfer I/O signals (bit data) between CNC,
cell controller, the I/O Unit-MODEL A, the Power Mate and so on at high-speed. Master and slave stations
are involved in I/O Link i and I/O Link control. The master is the CNC unit, and a slave is I/O Unit-A.
With the I/O Link i, the communication transfer rate is increased, compared to the I/O Link. More signals
and slaves (groups) can be connected.
Comparison in specification between I/O Link i and I/O Link
Item
I/O Link
I/O Link i
(normal mode)
2ms
Transfer cycle
2ms
(high-speed mode)
0.5ms
Note 4
(normal mode)
Maximum number of I/O
2048/2048
1024/1024
(high-speed mode)
signals (per channel)
512/512
Note 4
Maximum number of I/O
256/256
512/512
signals (per group)
(normal mode)
Maximum number of groups
24 groups
16 groups
(high-speed mode)
(per channel)
5 groups
Note 4
Maximum number of slave
Master: F-D Mate
4 units (4 base)
connection of I/O unit-A (per
Master: Other than the
1 unit
2 units (2 base)
group)
F-D Mate
* The transfer cycle herein refers to the cycle of master-slave DI/DO transfers. As for the actual delay
time, it is necessary to consider the delay time of the driver and receiver of slaves and the ladder scan
period.
* I/O Link i can handle both normal and high-speed modes together. Refer to the FANUC Series
30i/31i/32i-MODEL B PMC PROGRAMMING MANUAL for explanations about how to set the
high-speed mode.
With some i series CNC models, it is possible to use up to two I/O Link i interface channels and up to three
I/O Link interface channels. Either I/O Link i or I/O Link can be selected as channels 1 and 2 while only I/O
Link can be selected as channel 3. Which I/O link (I/O Link i or I/O Link) to use as channel 1 or 2 can be
specified using parameters. The initial parameter setting states that I/O Link be used as channels 1 and 2.
Refer to the FANUC Series 30i/31i/32i-MODEL B PMC PROGRAMMING MANUAL for descriptions of
the parameter setting.
With I/O Link i, it is possible to use up to 2048/2048 I/O points per channel. With I/O Link, it is possible to
use up to 1024/1024 I/O points per channel.
The maximum number of I/O points that can be used throughout the system is 4096/4096. I/O Link i and
I/O Link can be combined on a channel-by-channel basis as long as the total number of I/O points in the
system is not exceeded.
［Examples of usable combinations］
Channel 1
Channel 2
Channel 3
Total points (DI / DO)
I/O Link i
I/O Link i
─
4096 / 4096
I/O Link i
I/O Link
─
3072 / 3072
I/O Link i
I/O Link
I/O Link
4096 / 4096
I/O Link
I/O Link
I/O Link
3072 / 3072
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1. FANUC I/O Link i AND
FANUC I/O Link
CONNECTION
B-61813E/06
NOTE
1 The total number of I/O points that can be used varies from one model to another.
2 If a channel is used with I/O Link i, all units connected to the channel must be
those which support I/O Link i. Do not connect any unit dedicated to I/O Link i to
any channel used with I/O Link.
3 If you want to have the I/O Unit-A support I/O Link i, use the interface module
AIF01D that supports I/O Link i. Using the AIF01D makes it possible to use all
existing base units and DI/DO modules.
4 The I/O Unit-A does not support the high-speed mode of I/O Link i.
1.1
HAVING THE I/O Unit-A SUPPORT I/O Link i
Using the I/O Unit-MODEL A with I/O Link i needs the interface module AIF01D.
Using the AIF01D makes it possible to use all existing base units and I/O modules (Note) with I/O Link i.
NOTE
The high-speed counter modules whose unit drawing number is A03B-0819-C053
or A03B-0807-C053 are dedicated to I/O Link. *See Chapter 8.
The AIF01D differs from the AIF01A (conventional model) in the points listed below. Before using it, be
sure to check them.
AIF01D
AIF01A
Communication
I/O Link i
I/O Link
method
Power connector
Manufactured by Tyco Electronics
Manufactured by SOURIAU JAPAN
D-3500
SMS3PNS-5
(*) Gold-coated
Base expansion
Impossible
Up to one unit
See Chapter 4 of this connection manual for detailed descriptions of the interface module.
Also see Chapters 5 to 9 of the manual for descriptions of each I/O module.
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