Special instructions:
The biggest difference between FANUC and ABB robots is the I/O configuration. Even students with ABB foundation need to study it carefully. Although the FANUC official manual has instructions, many people can’t figure it out for a while.
When it comes to ABB robots, you need to create a card first and then create signals. In contrast, FANUC robot signals are already created and only require proper allocation.
FANUC I/O Types
FANUC has both general-purpose I/O and dedicated I/O. General I/O can be defined by users, while dedicated I/O is predetermined by the system and cannot be defined by users.
1. General I/O
Digital I/O: DI[i]/DO[i], Quantity: 512/512
Group I/O: GI[i]/GO[i], Quantity: 100/100, Range: 0-32767
Analog I/O: AI[i]/AO[i], Quantity: 64/64, Range: 0-16383
Note: FANUC general I/O serves the same purpose as ABB, but FANUC digital I/O uses ON and OFF to represent state changes, while ABB uses 1 and 0.
2. Dedicated I/O
Peripheral Device I/O (UOP): UI[i]/UO[i], Quantity: 18/20
Operator Panel I/O (SOP): SI[i]/SO[i], Quantity: 15/15
Robot I/O: RI[i]/RO[i], Quantity: 8/8
Note: Operator panel inputs/outputs SI[i]/SO[i] and robot inputs/outputs RI[i]/RO[i] are hardwired and do not require configuration.
I/O Allocation Interface Parameter Description
RACK (Rack): The type of I/O communication device;
Process I/O Board: 0
I/O Model A/B: 1 to 16, the first one is 1, the second one is 2, and so on…
CRMA15/CRMA16: 48
Profibus DP: 67 (as a slave) / 66 (as a master)
Ethernet: 89
CC-link: 92 (as a slave)
Profinet: 102 (as a slave) / 101 (as a master)
SLOT (Slot): The number of I/O modules;
When using a Process I/O board, the SLOT number is defined according to the connection order with the mainboard: 1, 2, 3…
When using I/O Model A/B, the SLOT number is determined by the order of the modules connected to each unit: 1, 2, 3…
When using CRMA15/CRMA16, the SLOT number is 1
CC-link, SLOT number is 1 or 2
Ethernet, determined by the line number
Profibus DP, SLOT number is 1
Profinet, SLOT number is 1
Starting Point: The starting position for signal allocation
As shown in the figure, the starting position for the 8 output signals DO[1-8] is 21, which means DO[1-8] occupies the positions: 21-28.
Status: Indicates the current status of the signal
There are four statuses:
ACTIVE: In an active state;
UNASG: Unassigned;
PEND: Correctly configured, but requires a restart to take effect, after which it becomes ACTIVE
Invalid: Configuration is invalid.
Special Note: Allocations for Rack 35, Slot 1, starting point 1, are all normally closed points.
When signals such as UI[1] to UI[3] are ON, allocations can be made to Rack 35, Slot 1, starting point 1, which are all normally closed points. This can be understood as the system’s built-in normally closed points, as shown in the following figure:
CRMA15/CRMA16 Standard Configuration
1. Hardware CRMA15/CRMA16 and FANUC Robot Standard Allocation
The R-30iB control unit is equipped with a peripheral device control interface with 28 input points and 24 output points. According to actual needs, the hardware’s 28 input points and 24 output points are allocated to the FANUC robot system’s 512DI/512DO signals for one-to-one connection. The standard allocation for the peripheral device control interface signals is DI[81-88], DI[101-120], and DO[81-84], DO[101-120]. The standard allocation table is as follows:
2. CRMA15/CRMA16 and Peripheral Device Connection Diagram
3. Wiring Physical Diagram
(1) Compact Control Cabinet CRMA15/CRMA16 Panel Plug
(2) External Physical Terminal Block Image
UI/UO Signal Functions
External Input (UI)
UI[1] IMSTP: Emergency stop signal (Normal state: ON);
UI[2] Hold: Pause signal (Normal state: ON);
UI[3] SFSPD: Safe speed signal (Normal state: ON);
UI[4] Cycle Stop: Cycle stop signal;
UI[5] Fault reset: Alarm reset signal;
UI[6] Start: External start signal (Active on falling edge);
UI[7] Home: Return HOME input signal (Macro program required);
UI[8] Enable: Enable signal;
UI[9-16] RSR1-RSR8: Robot service request signals;
UI[9-16] PNS1-PNS8: Program number selection signals;
UI[17] PNSTROBE: PN filtering signal;
UI[18] PROD_START: Automatic operation start (production start) signal (Active on falling edge);
External Output (UO)
UO[1] CMDENBL: Command enable signal output;
UO[2] SYSRDY: System ready output;
UO[3] PROGRUN: Program execution output;
UO[4] PAUSED: Program pause output;
UO[5] HELD: Hold output;
UO[6] FAULT: Error output;
UO[7] ATPERCH: Robot ready output;
UO[8] TPENBL: Teach pendant enable output;
UO[9] BATALM: Battery alarm output (Control cabinet battery low, output is ON);
UO[10] BUSY: Processor busy output;
UO[11-18] ACK1-ACK8: Acknowledgement signals, when RSR input signals are accepted, a corresponding pulse signal is output;
UO[9-18] SNO1-SNO8: This signal group represents the current selected PNS program number in 8-bit binary code;
UO[19] SNACK: Signal count confirmation output;
UO[20] Reserved: Reserved signal.
The standard peripheral device control interface signals are allocated to DI[81-88], DI[101-120], and DO[81-84], DO[101-120]. In addition, there are various external output signals available for different purposes. These include SYSRDY for system readiness, PROGRUN for program execution, PAUSED for program pause, HELD for hold status, FAULT for error indication, ATPERCH for robot readiness, TPENBL for teach pendant enable, BATALM for battery alarm, BUSY for processor busy, ACK1-ACK8 for acknowledgement signals, SNO1-SNO8 for program number selection, SNACK for signal count confirmation, and a reserved signal.
