2024年1月12日发(作者：)

SYSTEM R-J3 I/O ProductsFANUC Robotics North America,Inc. offers a wide range of Input/Output (I/O) products for the R-J3controller to meet end userapplication requirements. TheFANUC Robotics I/O Options tableshown on the last page outlines thevarious I/O types available forintegration of the R-J3 controller intotoday's control systems. Support isprovided for modular I/O, fixed I/O,remote I/O and network I/ of the I/O types shown here

is available for the R-J3 and R-J3icontrollers unless otherwise Robotics' I/O link devices(Model A, Model B and Process I/O)are limited to a total of 512 inputsand 512 outputs (each analogchannel consumes 16 points ofdigital I/O within this area). See

last page for FANUC I/O es and BenefitsICompact rack mountedplug-in type I/O card

Fits inside the R-J3 and R-J3iMODEL B controller operatorpanels eliminating the need

for a separate I/O connect plug-in

type terminal strips

Allows for easy removal tospeed up I/O on the I/O cards

indicate the status of

inputs and outputs

Status LEDs aid in

diagnosing I/O problems

during onal 32 inputs are

reserved for diagnostic statusbits). These blocks can belocated up to 100 meters fromthe interface unit using a daisy-chained twisted pair tocommunicate between theinterface card and the I/O block.

Features and BenefitsIRoboticsIModel B I/O Base UnitModel B I/OBasic Description

Model B I/O is FANUC Robotics'distributed I/O system that consistsof one to four interface modulesand up to 30 basic units perinterface module. A basic I/O unitconsists of 16 inputs, 16 outputs

or a mix of eight inputs and eightoutputs. One expansion unit can

be added to each basic unit toprovide up to 32 inputs or 32outputs per I/O block. Anycombination of up to four Model Aracks and Model B interfacemodules can be added to a robotcontroller. Each Model B interfacemodule can support up to 224inputs and 256 outputs (anIModel A I/OBasic DescriptionModel A I/O is FANUC Robotics'rack-mounted I/O system that

consists of a five- or ten-slot I/Orack, an interface card, and modularI/O cards. Cards are available forAC digital I/O, DC digital I/O (sinkingor sourcing) and Analog I/O. The I/Oracks are daisy-chained togetherwith an accumulative cable length ofup to 10 meters (which can beextended with fiber converters).Each Model A rack can support upto 256 inputs and 256 t distributed

I/O cards

Fits inside the operator

box or inside a remotecontroller's cabinet al strips for I/O

wire connection

Provide for secure and

reliable wire location of I/Oblocks (up to 100 meters)Reduces the device

peripheral interface costcompared to point-to-point l B I/O Wiring SchematicI/O Link Cable from Main CPURobotMountedBase I/OBMD88A1Optional I/OExpansionUnitBMD88P1Optional I/OExpansionUnit(BID16P1)JD1BS1+S1 -Model B I/O Interface(BIF04A1)S4+S4 -Twisted Pair Wiring(Up to 100 meters)Remote

MountedBase I/OBOD1641To a maximum of30 base I/Omodules percontrollerFive slot Model A I/O Rack with I/O cardsNote: Optional CPU with built-in Model B I/O interface is available for the R-J3iMODEL B controller.

Process I/O

Basic DescriptionProcess I/O is supported by theArcTool application software. Itsupports both digital and analogsignals. The process I/O board

is pre-configured to include thefollowing I/O types:

IFANUC I/O LinkConnection UnitBasic DescriptionThe I/O Link Connection Unit isused to link a FANUC robot toanother FANUC robot or a CNCmachine with I/O Link compatibleFANUC controller. It eliminatesthe need to use physical I/Omodules to interface one FANUCcontroller with another. TheFANUC I/O Link Connection Unitprovides up to 256 inputs and 256outputs between two FANUCcontrollers using a simple I/Oconfiguration. The schematicshown below displays the wiringbetween two robot controllers usinga FANUC I/O Link Connection -BradleyRemote I/O

(A-B RIO)Basic DescriptionThe R-J3 Allen-Bradley Remote I/O

(A-B RIO) Interface allows an R-J3controller to look like a slave rack to anAllen-Bradley PLC over an A-B RIOnetwork. The A-B RIO Interface card isconnected to the A-B RIO network witha twisted pair twin axial cable ( 9463). The interface provides128 inputs and 128 outputs betweenthe robot and the PLC in 1/4, 1/2, 3/4,and full A-B 1771 rack configurations.40 inputs and 40 outputsincluding 18 UOP inputs

and 20 weld inputs and

eight weld ted wire stick

detection ess I/O PCBFeatures and BenefitsII/O Link Connection UnitMini slot A-B Remote I/O PCBTwisted Pair Cable Length

2,500 ft5,000 ft10,000 ftBaud Rate230.4 kbps115.2 kbps57.6 kbpsSingle I/O BoardMinimizes the number ofcomponents to interface

with the welding power

supply and other

peripheral ted I/O InterfaceSimplifies the I/O connectionbetween the robot and theweld I/O and Wire

Stick DetectionProvides process I/O that

is configured to provide

weld I/O and wire stickdetection input commonlyused in arc es and BenefitsISingle I/O InterfaceHardwareReduces the cost of an I/Ointerface between two

FANUC I/O Link CableReduces the wiring

cost compared to point-to-point wiring between the firstrobot to I/O Link ConnectionUnit and an I/O LinkConnection Unit to the secondrobot (or FANUC CNCcontroller).Features and BenefitsIIITwisted pair cablingReduces the cost to interface arobot and PLC versus point-to-point able baud rateProvides the flexibility to optimizecommunication performance forAllen-Bradley slot plug-in type PCBIs compact and easy to /O Link Connection Unit Wiring SchematicRobot #1JD1A124V DCPower24V DCPowerRobot #2JD1A2FANUC I/O Link Cable (up to 10M)CP1CP2FANUC I/O LinkConnection UnitJD1A2JD1A1 DODI DIDO

Genius RemoteI/O InterfaceBasic DescriptionThe Genius I/O Interface allows

an R-J3 controller to look like a

GE Fanuc Genius I/O slave Genius I/O interface connectsto the GE Fanuc Genius I/Onetwork via a twisted pair twin

axial cable (e.g. Belden 9463).

The interface provides up to 128inputs and 128 outputs betweenthe robot and a GE Fanuc PLC.

(PLC series 6, 90-30 and 90-70).

DeviceNetInterfaceBasic DescriptionFANUC Robotics' DeviceNetInterface enables the R-J3controller to communicate withexternal equipment over aDeviceNet network. It provides asimple method to connect FANUCrobots to DeviceNet compatible

actuators, sensors and externalcontrollers. Both master (scanner)and slave (adapter) modes aresupported in Full and Mini Wideslot versions of this interface.

ControlNetInterfaceBasic DescriptionFANUC Robotics' ControlNet (CN)Interface enables the R-J3 controllerto communicate with externalequipment over a CN network. Itprovides a simple method to connectFANUC robots to CN compatibleactuators, sensors and externalcontrollers. Both master (scanner)and slave (adapter) modes aresupported in Full and Mini Wide Slotversions of this interface. The R-J3CN interface can support the full I/Ospace of the controller (1024 digitalI/O, 25 group I/O, and 25 analog I/O).Mini Wide slot GE-FANUC GENIUS PCBTwisted Pair Cable Length

(feet) using Belden 9463Baud Rate(kbps)Mini Wide slots DeviceNet PCBMini Wide slot ControlNet PCBFeatures and BenefitsFeatures and BenefitsI800153.6 (std)IComplies with DeviceNet1,500 153.6 (ext)Cabling Standards2,500 76.83,500 38.4Reduces the I/O interface

Features and BenefitsIcost compared to point-to-point digital I/O wiring.

ICoaxial Cable ConnectionReduces the I/O interface costcompared to point-to-point

digital I/O Communication

(5 Mbps)Provides deterministic high-speed connection to PLCs

and I/O devices over a singlenetwork programming via

non-isolated Network

Access Port (NAP)Allows for laptop connectionsand easy programming using

the supplied ControlNet I/Oconfiguration tool.

ITwisted Pair CablingReduces the cost to interfacea robot and PLC versus

point-to-point able Baud RateProvides the flexibility tooptimize communicationperformance for GE FanucGenius Wide Plug-in Type PCBIs compact and easy to able Baud Rate

(125, 250 and 500 kbps)Allows user to optimizenetwork slot version caninterface to as many as

four DeviceNet networksAllows users to handle PLCcommunication and localdevices on separate networksto improve critical processcontrollers’ performance.

IIII

FANUC I/O Ordering

Information:I/O TypeModularHardware TypeRack Mounted I/O

Distributed I/O

FixedPCB in Op BoxPCB in Op BoxRemotePlug-in Type

Mini Slot PCBPlug-in Type PCBMini WideOpenNetworkPlug-in TypeMini Wide PCBFull Slot PCB onCPU Back PlanePlug-in TypeMini Slot PCBPlug-in TypeMini Wide PCBPlug-in TypeFull Slot PCI/O OptionName(Ordering Number)MODEL A(See Model A I/O Table)MODEL B(See Model B I/O Table)PROCESS I/O - EA(GBJ3-PIO-EA)I/O Link Connection Unit(GBJ3-IOCN-UNIT)Allen-Bradley RIO

(GBJ3-ABRIO-MINI)Genius I/O(GBJ3-GENI-WIDE)DeviceNet(GBJ3-DNET-WIDE)DeviceNet for B Cabinet(GBJ3-DNET-FULL)Profibus DP(GBJ3-PBUS-MINI)ControlNet(GBJ3-CNET-WIDE)ControlNet for B Cabinet(GBJ3-CNET-FULL)Model A I/O Ordering Information:Module IDABU05AABU10AAIF01AAID32B1

AID16C

AID16D

AID32F1

AIA16GAOD32A1

AOD16CAOD16D

AOD32C1

AOD32D1AOA05E

AOA08EAOA12F

AOR08G

AOR16G

AOR16H2

AAD04AADA02A

DescriptionModel A 5-slot RackModel A 10-slot RackModel A Interface ModuleModel A I/O Link Cable24VDC x 32 Digital Input, Non-Isolated Dual Polarity, 2mS, Conn.24VDC x 16 Digital Input, Isolated True Low, 20mS, Term., LED24VDC x 16 Digital Input, Isolated True High, 20mS, Term., LED24VDC x 32 Digital Input, Isolated Dual Polarity, 2mS, Conn.100-115VAC x 16, Digital Input, Terminal Dual Polarity,

ON 30mS/OFF 45mS, LED5-24VDC x 32 Digital Output, Term., Non-Isolated, Sink, 2A, LED12-24VDC x 16 Digital Output, Term., Isolated, Sink, 0.5A, LED12-24VDC x 16 Digital Output, Term., Isolated, Source,0.5A, LED12-24VDC x 32 Digital Output, Conn., Isolated, Sink, 0.3A12-24VDC x 32 Digital Output, Conn., Isolated, Source, 0.3A100-230VAC x 5 Digital Output, Terminal, 2A, LED100-230VAC x 8, Digital Output, Terminal, 1A, LED100-115VAC x 12, Digital Output, Terminal, 0.5A, LED250VAC/30VDC x 8 Digital Relay Output, 4.0A, Term., LED250VAC/30VDC x 16 Digital Relay Output, 4.0A, Term., LED30VDC x 16 Digital Relay Output, 2.0A, Connector, LED4-Channel Analog Input, -10V - +10VDC/-20mA - +20mA, 12 Bits2-Chan. Analog Output, -10V - +10VDC/-20mA - +20mA, 12 BitsModel A I/O Connection Manual

Part NumberA03B-0807-C002A03B-0807-C001A03B-0807-C011A05B-2400-J101A05B-2300-J401A05B-2300-J402A05B-2300-J403A05B-2300-J406A05B-2300-J408A05B-2300-J430A05B-2300-J433A05B-2300-J434A05B-2300-J435A05B-2300-J436A05B-2300-J438A05B-2300-J439A05B-2300-J440A05B-2300-J441A05B-2300-J442A05B-2300-J443A05B-2300-J460A05B-2300-J470MARMGIOMA12801EProfibus-DPInterfaceBasic DescriptionFANUC Robotics' Profibusinterface allows the R-J3 controllerto look like a slave rack of up to1024 inputs and 1024 outputs to aPLC over a Profibus-DP network.

Model B I/O Ordering Information:Module IDDescriptionDIN Rail- Order one per Model B I/O unit for mountingI/O Link Cable- Select one from the following:I/O Link Cable for A-size or Remote A-size cabinetI/O Link Cable for B-size Cabinet

Interface Unit- Select one to four Model B Interface units per robot:Model B I/O Interface Module (for A-size, Remote A-size cabinets)Model B I/O Interface Module (for B-size cabinet)Part NumberA05B-2350-J350A05B-2400-J060A05B-2401-J053BIF04A1BIF04A1A05B-2400-J005A05B-2401-J002BMD88A1BID16A1BOD16A1BOA12A1Base I/O Units- Select up to 30 of the following modules per Model B I/O Interface unit:Model B Base I/O Module 8 in(7.5mA)/8 out(0.6A), 24 VDC, pos A05B-2350-J310Model B Base Input Module 16 input, 24 VDC, 7.5 mA, posA05B-2350-J311Model B Base Output Module 16 input, 24 VDC., 0.6 A, posA05B-2350-J312Model B Base Output Module 12 output, 100-230 VAC, 0.3AA05B-2350-J313Expansion Units- Select up to one of the following modules for each Base I/O unit:BMD88P1BID16P1BOD16P1BIA16P1Model B I/O Exp Mod 8 in(7.5mA)/ 8out(0.6A), 24 VDC, pos

Model B Input Expansion Module 16 input, 24 VDC, 7.5 mA, posModel B Output Expansion Module 16 output, 24 VDC., 0.6 A, posModel B Input Expansion Module 16 input, 110 VACModel B I/O Connection Manual

A05B-2350-J330A05B-2350-J331A05B-2350-J332A05B-2350-J333MARFIOUMB04701ENOTE:

1Logic Power for the Interface Unit and Base Unit must be supplied from the R-J3 Controller.2Oki Electric Cable #2x20/0.18A PEF40X-SVK or equivalent twisted pair communication cable is

recommended for connection between base I/O modules and Model B Interface modules.3"pos" in table above means positive logic: for inputs, this is current "sink" type

and for outputs this is current "source" slot Profibus PCBFeatures and BenefitsIProfibus shielded twistedpair cablingReduces I/O interface costcompared to point-to-pointdigital I/O able baud rate

(up to 12 Mbps)Allows users to optimizenetwork Robotics North America3900 W. Hamlin RoadRochester Hills, MI 48309-3253Phone (248) 377-7000Fax (248) 276-41331-800-47-ROBOTCharlotte, NCPhone (704) 596-5121Chicago, ILPhone (847) 898-6000Cincinnati, OHPhone (513) 754-2400Los Angeles, CAPhone (949) 595-2700Toledo, OHPhone (419) 866-0788Toronto, CanadaPhone (905)812-2300Montréal, QuébecPhone (450) 492-9001Mexico City, MexicoPhone 52 (5) 611-5998Aguascalientes, MexicoPhone 52 (49) 10-8000Sao Paulo, BrazilPhone (55)(11) ©2001 FANUC Robotics North America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN -1/01

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R-J3 Integrated PMC operator’s manual (Version 1.9)

F1000.0-F1003.7 can be assigned to DI, DO, GI, GO, UI and UO as rack 33, slot 6, start port 1 – 32.

Correspondence of F address and start port is the following. F1004.0-F1255.7 can not be assigned to

any I/O port.

Fa.b ó Start port c

( a - 1000 )* 8 + b + 1 = c

(Example: F1003.4, a=1003, b=4, (1003-1000)*8+4+1=29, c=29, Start port = 29

G1000.0-G1003.7 can be assigned to DI, DO, GI, GO, UI and UO as rack 33, slot 7, start port 1 – 32.

Correspondence of G address and start port is the following. G1004.0-G1255.7 can not be assigned to

any I/O port.

Ga.b ó Start port c

( a - 1000 ) * 8 + b + 1 = c

(Example: G1003.4, a=1003, b=4, (1003-1000)*8+4+1=29, c=29, Start port = 29

5.5. R0.0 – R1499.4 (Internal Relay)

R0.0 – R1499.7 is internal relay of PMC. Value of this area becomes 0 at power up even though power

failure recovery is enabled.

Internal relay can be assigned to DI, DO, GI, GO, UI and UO as rack 33, slot 2 start port 1 – 12000

Correspondence of R address and start port is the following.

Ra.b ó Start port c

a * 8 + b + 1 = c

(Example: R3.4, a=3, b=4, 3*8+4+1=29, c=29, Start port = 29

In addition, TP Program can access Internal Relay area as DO[11001] – DO[23000]. Correspondence

of R address and DO port number is the following.

Ra.b ó DO[c]

a * 8 + b + 11001 = c

(Example: R3.4, a=3, b=4, 3*8+4+11001=11029, c=11029, DO[11029]

Configurating Peripheral I/O 1

Step

1. Press the MENUS key. The screen menu is displayed.

2. Select 5 [I/O].

3. Press the F1 key, [TYPE]. The screen change menu is displayed.

4. Select UOP.

Peripheral I/O Selection Screen

5. To switch the input screen to the output screen, or vice versa, press

the F3 key, IN/OUT.

6. To allocate I/O, press F2,CONFIG.

Peripheral I/O configuration screen

To return to the list screen, press F2,MONITOR

7. Manupulating the I/O assignment screen

a. Place the cursor on "Range", and specify the range of signals to be

assigned.

b. Line division is performed automatically according to the specified

range.

c. Enter appropriate values for "Rack", "Slot", "Start point".

d. When the entered values are valid, abbreviation "PEND" is displayed in

"Status".

If any entered value is invalid, abbreviation "INVAL" is displayed in

"Status".

Unnecessary lines can be deleted by pressing F4 (Delete).

The abbreviations that will appear in Status mean the following:

ACTIV : This assignment is now in use.

PEND : Assignment is normal. Turning the power off and on again causes

the ACTIV status to be entered.

INVAL : A specified value is invalid.

UNASG : No assignment has been made.

8. To set the attribute of I/O, press NEXT key of the selection screen and

press F4, DETAIL of the next page.

Peripheral I/O detail screen

To return to the configuration screen, press PREV key.

9. To add a comment:

a. Move the cursor to the comment line and press the ENTER key.

b. Select the method of naming the comment.

c. Press the appropriate function keys to add the comment.

d. When you are finished, press ENTER key.

process I/O board

输入信号电气接线图

输出信号电气接线图