FANUC - Robot Configuration for MachineLogic Applications

Overview

Welcome to the MachineMotion AI integration guide for Fanuc Robots!

This guide walks you through the setup process to connect and control your Fanuc Robot.

⚠️ MachineMotion v2

MachineMotion v2 - Fanuc Configuration Guide

⚠️MachineMotion AI - Breaking Change

Starting from version 3.3.0, a breaking change has been introduced and the configuration procedure for system version of 3.2.0 and bellow must follow this specific procedure.

Link to configuration procedure for MMAI v3.2.0 and bellow

System Requirements

Robot Controller

Software version

• R-30iB Mini Plus: V9.40P/80 or later

Software Option

• Stream Motion (J519)
  Enables remote control capabilities between the MachineMotion AI and the Fanuc controller.

• Advanced DCS Package (R859)
  The Advanced DCS Package includes safety options and the powerful 4D Graphics option.

• SNPX (HMI Device) (R553)
  Enables direct, fast and structured communication to the robot controller.

Software Options Validation

To validate that the robot controller has the necessary options installed, follow these steps:

1. Click on MENU

2. Select STATUS

3. Select Version ID
   

   1. You can validate your controller software version on line 7 that it is indeed V9.40P/81 or later

4. Select CONFIG
   

5. Cursor until you find Stream Motion J519, Advanced DCS Package R859 and SNPX (HMI Device) R553

6. If you cannot find one of the required software options, contact the support team for help to obtain the software option.

Hardware Option

• CRX Safe I/O — PR-FA-002-0021
  Integrates safety signals with the Fanuc robot.

Supported Robot Models

CRX Series

• CRX-5iA

• CRX-10iA

• CRX-10iA/L

• CRX-20iA/L

• CRX-30iA (CRX-25iA)

System Connection

To program a Fanuc Robot with MachineMotion AI, ensure you have the following components:

• ✅ MachineMotion AI Controller

• ✅ Pendant V3

• ✅ Robot Safety Module

• ✅ E-Stop Module with Reset

• ✅ Fanuc Robot with controller

• ✅ Safety Extension Cables

Note: This list depicts the minimum set of components needed to configure and control your Fanuc robot with MachineMotion AI.
Your system may have a different set of components according to your safety needs.

Safety Wiring

Vention’s Robot Safety Module is used to interface safety signals and Ethernet connection to the FANUC controller. Please follow the Automation System Diagram (ASD) made by your Application Engineer, or one of the diagrams in the Robot Safety Module AI Datasheet.

Safety behavior

1. In case of an E-stop (Vention or FANUC Pendant), or any other device that detects a dangerous situation on the Vention Safety Chain:    

   1. Safe Behavior:        

      1. MachineMotion axis falls into STO.

      2. FANUC CRX Falls into STO or SS1, as configured.

   2. Recovery        

      1. Pressing on the reset (blue) button will give power back to the MachineMotion and activate FANUC CRX safety signals from Robot Safety Module.

2. In case of a reduced speed situation from the laser area scanner:    

   1. Safe Behavior:        

      1. FANUC CRX will activate collision detection and slow down to collaborative speed.

      2. MachineMotion is not influenced by this situation. This needs to be taken into account in the risk assessment. Axis will run at configured speed.

   2. Recovery:        

      1. If the laser area scanner is not able to detect a human everywhere where there is a danger, but can detect the entry points, then the laser scanner should be configured with manual reset. In this case, pressing the reset button will bring back the FANUC CRX to normal speed.

      2. If the laser scanner is able to detect a human everywhere where there is a danger, then the laser area scanner can be configured with an Auto-Reset Safety Module AI (to be determined and confirmed by risk assessment). In this case, if the laser area scanner does not detect a human in the workspace anymore, the FANUC CRX will resume to full speed.

Important: Ethernet Cable Connection

To ensure proper functionality, the ethernet cable needs to be connected to the port#1 in the Fanuc controller as shown in the following picture.

1. Download Deployment Files

1. Download and extract the deployment zip file from:

   Fanuc_Configuration_Files_MMAI_VRMCS_v3.3.0

   36.03 KB

   You should get:

   • First_step

   • Second_step

2. Load the two extracted folders inside the USB key.

2. Configure Controller

2.1 Initial Setup

This step prepares the Fanuc controller in order to set each variable automatically in the following steps.

1. Power on the robot controller

2. Insert USB drive in the robot controller (not the Teach Pendant).

3. Open the virtual iPendant via the icon at the bottom right
   

4. Navigate: FCTN → 0 NEXT → 8 START MODE → CTRL

5. Power off → Wait 10 sec → Power on

6. Navigate: MENU → 0 [NEXT] → 1 PROGRAM SETUP → 13 Extended alarm log size

   1. Set size value to: 1000

   2. ENTER

7. Navigate: MENU → 5 FILE → F5 [UTIL] → 1 SET DEVICE → 6 USB DISK (UD1:)

8. Open First_step folder

9. Ensure you see all the following files:

   • FANUC.CVR

   • BG1.TP

   • MW_HOME.TP

   • MW_ZERO.TP

   • SETPAYLOAD12.TP

   • STREAM_MOTION.TP

Action to Load all files

• Go to line 8 * (all files) → Press F3 [LOAD] → Confirm with YES

• Overwrite if prompted.

Power Cycle the controller:

• FCTN → Start (COLD)

2.2 I/O and Controller Configuration

2.2.1 Load Configuration Files

1. Open iPendant

2. Navigate: MENU → 0 NEXT → 6 SYSTEM → F1 [TYPE] → 6 CONFIG

   1. Navigate to UOP auto assignment (Around line 44)

   2. F4 [CHOICE] → 2 FULL

3. Navigate: MENU → 7 FILE → UTIL → SET DEVICE → USB DISK (UD1:) → Second_step

4. Load files:

   • FANUC.XVR

   • DIOCFGSV.IO

   • SYSMACRO.SV

Action to Load all files

• Go to line 5 * (all files) → Press F3 [LOAD] → Confirm with YES

• Overwrite if prompted.

2.2.2 Apply DCS (Dual Check Safety)

1. Navigate: MENU → 0 NEXT → 6 SYSTEM → F1 [TYPE] → 7 DCS

2. Select: F2 [APPLY]

3. Code: 1111

4. Confirm.

5. Wait until process is completed then Press Ok

6. Power off → Wait 10 sec → Power on

3. Troubleshooting

If the robot report alarms after the two steps process defined previously, here are the potential solution:

Connecting to the Robot Controller from MachineMotion

You're now ready to deploy your MachineLogic application from your Vention project to the MachineMotion AI controller!

Follow the steps detailed in the Deploy your Application and Configuration to Controller documentation.

Support

If you need further assistance, reach out to our support team:

📧 integrationsupport@vention.cc
📞 +1-800-940-3617 (ext. 2)

Additional Information

Previous Documentation Versions

MachineMotion v2 - Configuration Procedures

• MachineMotionv2 - Fanuc Configuration Document

• Configuration Files for MachineMotion v2: Download

MachineMotion AI - Version 3.2.0 and bellow

• Fanuc - Robot Configuration for MachineLogic Applications ( < v3.2.0)