DeviceNet.pdf

( R-- J 3 CONTROLLER )

DeviceNet Interface

OPERATOR's MANUAL

B - 81244E N / 0 1

E FANUCLTD , 1996

The descriptions and specifications contained in this manual were in effect

at the time this manual was approved for printing. FANUC reserves the

right to discontinue models at any time or to change specifications or

design without notice and without incurring obligations.

FANUC manuals present descriptions, specifications, drawings,

schematics, bills of material, parts, connections and/or procedures for

installing, disassembling, connecting, operating and programming

FANUC’ products and/or systems. Such systems consist of robots,

extended axes, robot controllers, application software, the KARELR

programming language, INSIGHTR vision equipment, and special tools.

FANUC recommends that only persons who have been trained in one or

more approved FANUC Training Course(s) be permitted to install, operate,

use, perform procedures on, repair, and/or maintain FANUC’ products

and/or systems and their respective components. Approved training

necessitates that the courses selected be relevant to the type of system

installed and application performed at the customer site.

WARNING

This equipment generates, uses, and can radiate radio

frequency energy and if not installed and used in

accordance with the instruction manual, may cause

interference to radio communications. As temporarily

permitted by regulation, it has not been tested for

compliance with the limits for Class A computing devices

pursuant to subpart J of Part 15 of FCC Rules, which are

designed to provide reasonable protection against such

interference. Operation of the equipment in a residential

area is likely to cause interference, in which case the user,

at his own expense, will be required to take whatever

measure may be required to correct the interference.

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Safety

FANUC 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

best be determined by safety system professionals. FANUC 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 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 FANUC 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.

FANUC therefore, recommends that all personnel who intend to operate,

program, repair, or otherwise use the robotics system be trained in an

approved FANUC 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.

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SAFETY

B--81244EN/01

CONSIDERING

SAFETY FOR YOUR

ROBOT

INSTALLATION

Safety is essential whenever robots are used. Keep in mind the following

factors with regard to safety:

D The safety of people and equipment

D Use of safety enhancing devices

D Techniques for safe teaching and manual operation of the robot(s)

D Techniques for safe automatic operation of the robot(s)

D Regular scheduled inspection of the robot and workcell

D Proper maintenance of the robot

Keeping People and

Equipment Safe

The safety of people is always of primary importance in any

situation. However, equipment must be kept safe, too. When

prioritizing how to apply safety to your robotic system, consider the

following:

People

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:

D Safety fences, barriers, or chains

D Light curtains

D Interlocks

D Pressure mats

D Floor markings

D Warning lights

D Mechanical stops

D EMERGENCY STOP buttons

D 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 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.

D Arrange the workcell so the operator faces the workcell and can see

what is going on inside the cell.

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B--81244EN/01

SAFETY

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.

Never rely on software as the primary safety element.

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.

Wherever possible, install safety fences to protect against unauthorized

entry by personnel into the work envelope.

D 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.

D 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.

D 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).

D 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.

D If materials are being applied at dangerously high pressure, provide

electrical interlocks for lockout of material flow and pressure.

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