FANUC
Robot Mastering
• Menu->Next->system-> master/cal
Mastering
• Single axis master
• Zero position master
• Gun master
• Quick master
• Fixture position master
• Set quick master ref
MASTERING
• Single axis mastering->For doing mastering of
selected axis separately .
• Zero position mastering-> For doing mastering
of all the axis at a time, by keeping all the axis
at zero position.
• Fixture position mastering->
Gun Addition
• Function->Cycle power->press (prev+next)->control
start->menu->maintenance->manual->add servo
gun axis->complete->select motor DATA->enter
amplifier no.(2)->tip displacement ration(gear
ratio)->motor direction(always false)->gun close
direction->enter open limit(max opening)->enter
close limit->max gun pressure(kgf)->brake
number(slot 2)->servo timeout(servo always
disable)->maxgun speed->check all
values(display/modify servogun)->exit->cold start
Gun mastering
• Menu->next->system->gun master->zero pos
master/ref pos master
Home position
• Menu->data->pos register->Select PR[]-
>record
• Menu->setup->type->ref pos->select 1 ref pos-
>details(name)->assign Do[]->record
Auto tune
• Menu->Utility->type->servogun->auto tune
1. Set gun motion sign -> enter and follow the procedure
Auto tune
Set gun specs, master gun
• Procedure 1: If gear ratio, max gun opening, and close limit are known then enter
the values and close the gun and press F4(closed). Then press F3(comp).
Auto tune
• Procedure 2: Open the gun and measure the distance b/w two tips and
enter the value.
• Open gun to its max opening limit and press F5(open).
• Close gun and press F4(closed) and press F3(comp).
Auto tune
• After entering gun data->menu->utility
->servogun setting->restart
• Switch to Auto mode->disable step mode-
>press Shift+F3(execute)->yes
• After auto tuning restart the controller &
switch to T1 mode & apply
Payload calibration
• Menu->system->type->motion
Payload calibration
• If load data known then click on details & put
the values.
Payload calibration
• If values are unknown then click on next->ident->mass known[NO]->mode
T2/Auto->execute->apply
Tool/base data
• Menu->setup->frames->other->select
user/tool frames->method
• If values known then use direct entry and
enter the values.
REMOTE TCP/EXTERNAL TCP
R TCP NORMAL TCP
CAR ORIGIN/CAR ZERO
Backup
• Menu->file->file->util->set device->UD1:on
controller,UT1:on TP
• Make dir->enter->backup->all of above: for TP
programs,ASCII:for LS backup , image backup
Load program/olp
• Menu->file->file->set device->load->select
program
Program shift
• Menu->utilities->program shift->choice->select program->new program
name->select source point->record/refer->destination point->record/refer-
>execute
Program shift
• Select prog by clicking on choice.
• Set range{whole/part}
• If we select part then enter start line & end line.
• Then enter new prog name for shifted prog.
• Refer/record `source & destination points then execute
RSR/PNS
• Menu-> setup->prog select->prog select mode->choice-
>select PNS/RSR/STYLE/OTHER
NOTE: RSR SYNTAX should be like (RSR0001- RSR0008)
For PNS (PNS0001- PNS0256)
Robot to PLC communication
(DEVICENET)
• MENU-> IO -> TYPE -> DEVICENET
• Rack 81 for SLAVE
• Rack 82 for MASTER
• For Master(PLC) - Click on details and set MAC ID, BAUD RATE,
size of output from master, size of input form master.
NOTE: Status of MASTER and SLAVE should be in OFFLINE.
• For Slave – DEF-DEV->NEXT-> ADD-DEF-> Enter details
• DEV-LST-> ADD-DEV-> Enter MAC ID-> CHOICE->Select user
defined device.
NOTE: Cycle power for the changes to take effect.
SOP/UOP Mapping
• Menu-> I/O-> Type-> UOP-> Config-> Enter
details
Note: SLOT IS Mac-ID , after modifications it needs cycle Power
IO mapping
Digital
• Menu->IO->TYPE->DIGITAL->CONFIG->SELECT
INPUT/OUTPUT
NOTE:ASSIGN RANGE OF I/O AS PER REQUIRED.
NEEDS CYCLE POWER AFTER MODIFICATIONS
PRESSURE CALIBRATION
• Menu-> Setup-> Type-> Servogun->General setup-> Pressure cal-> Enter
data(pressuring time, Thickness of gauge, Gun open value)
• Set the Torque value in order to get the given pressure values
NOTE: Deadman + Shift + Pressure to operate gun
Calibration status should be incomplete before calibration
Tip dress/ Tip change
• Create via path and Record Position registers
for Approach position , Tip to tip , Touch to
plate
TIP DRESS/TIP CHANGE
SEALER SYSTEM
TYPES OF SEALER
• 1.STRUCTURAL
• 2.MASTIC
• 3.HEMMING
USES
• STRUCTURAL SEALANT USES
• ANTI AGING
• ANTI CORROSION
• CRASH SAFETY
• MASTIC SEALANT USES
• TO AVOID WATER LEAKAGE.
• NOISE PROOF
• WEATHERPROOFING
Spot DATA
Menu->Next-> data-> Enter-> Pressure/Distance
For other
data
SD= START DISTANCE, P= PRESSURE FILE NO,
T= THICKNESS, S = SCHEDULE, ED= END DISTANCE
ATC
• INPUTS
• 1.ATC CHUCK
• 2.ATC UNCHUCK
• 3.ATC FACE
• 4.WASI SENSOR
• OUTPUTS
• 1.ATC CHUCK
• 2.ATC UNCHUCK
ATC UNCHUCK PROCESS
• 1.CHECK TOOL PRESENT SENSOR[ON].
• 2.CHECK WASI SENSOR
• 3.ATC UNCHUCK(WAIT FOR INPUT)
• 4.CHECK TOOL PRESENT SENSOR[ON]
• 5.CHECK ATC FACE OFF
NOTE:CHECK TOOL COVER OPEN/CLOSE AS REQUIRED
ATC CHUCK PROCESS
• 1.CHECK ATC UNCHUCK.
• 2.CHECK ATC FACE OFF
• 3.CHECK TOOL PRESENT SENSOR ON.
• 4.AT PICK POINT CHECK ATC FACE SENSOR ON.
• 5.ATC CHUCK(WAIT FOR INPUT).
• 6.CHECK TOOL PRESENT SENSOR OFF
NOTE:CHECK TOOL COVER OPEN/CLOSE AS REQUIRED
END
