FANUC Digital Inputs / Outputs, I/O mapping, setting up digital signals, I/O configuration explained 

Thank you Paul ! Is is a dedicated card to communicate with FANUC ? You can reach out directly to my email to get more information: info@f-robotics.com

Yes you can connect sensors directly to the robot

Oh that's because of video editing, I did cut out part of the video and must have forgotten to turn the signal back ON. Good catch !

Yes you can :-) Just as you written you need to remember about "Start"

it all depends what is the module you are using if it's FANUC I/O Link it's auto configurable product

Good catch ! You are right it will be DI, not DO :-) It also depends how you look at it, from the robot perspective it's DO, but from PLC will see his DI turn on

All is on FANUC robot

There is option for both, variable that says if robot TCP is moving as well as signal that will turn on when robot is waiting for (WAIT) command , which one you are interested in ?

Great, I did not find It. I think I will need both variables ! Can you tell me the name of the variables ?

Hey Al, so unfortunately, with FANUC you cannot pull out simple Excel file, however you should be able get the mapping and I/O names form SUMMARY.DG

Hey @Bagnou M, could you tell me what variable are you talking about ?

$IO_AUTO_CFG

@@bagnoum747 Well that variable will overwrite a configuration that you will make. I did not play with it, since I'm always making configurations from 0 myself. My personal opinion would be to set it to FALSE, since it can bring confusion to next person that will work on the robot and will try to make changes on it, because he will keep loosing I/O configuration every time he/someone will cycle power the robot. If you want to see how the robot will assign the I/O by himself (set variable to TRUE) and than use it you can go for it. Just set variable to TRUE, cold start the robot, check the configuration, save it and set variable to FALSE.

You cannot force UI :-) Like I've said those are robot internal signals. The only way is to send the signal. Just FYI don't use UI signals as regular I/O's, unless it's for testing. Connect Macro to Digital/Robot I/O.

You can schedule a consultation with me to discuss the full process 🙂 👉 On-line consultation: f-robotics.com/consultation 👈

You should be able to increase the number of I/O under controlled start

If you are asking about Operator Panel Keys (SOP) you can use Interconnect to map SI do DO, if you want to map SO to DO, the easiest thing would be to make a background logic and just make a DO[x]=SO[x]. Now I don't know how is your robot set up (remote or local start), if you are using remote start (eg. PLC) to start robot program, you might use UOP signals and map them into DI/DO

@@FutureRoboticsChannel The set up of the robot is on local, I only want to see on the plc that a program is running I will do that on bg logic, that's right? Thanks a lot

@@marcosmata5172 Correct However you can always map UOP to DO, this way you can deliver a bit more information to PLC Simply go to UOP and in config use same mapping like in DO this way you will “copy” UOP to DO Eg. UOP Rack 101 Slot 1 Start 1 DO Rack 101 Slot 1 Start 1 This way first of 15 DO will be the same as fist 15 of UOP (I think it’s 15, I would need to double check)

@@FutureRoboticsChannel i got it, think this way is more easy, I only have to map to a word of PLC and that's it (I have connected the robot and the PLC on Ethernet/ip I think the rack is 89) I really appreciate your answers and your content it's amazing thanks a lot Sr, Greetings from Mexico!

@@marcosmata5172 Awesome, glad I could help ! Have fun programming

no you cannot

Hello, I think you are asking about a RACK not SLOT :-) 48 - address mapped I/O for LR Mate Peripheral connectors 101 - Dual Channel Profinet I/O Controller V9 102 - Dual Channel Profinet I/O Device V9

@@FutureRoboticsChannel yes of course, rack not slot. Sorry I was at home, I didn't have the robot and I was wrong. Rack 48 what is it for? If I could, it would be really interesting and useful to have your video dealing with the interfacing in Profinet between robot and Tia Portal. Thank you so much, so much for your wonderful videos and for the work you do for the benefit of all of us, you are super, keep it up .. Good job

@@alsly9066 Like I've written above :-) 48 - address mapped I/O for LR Mate Peripheral connectors

If you have connection between PLC and Roboguide you need to map your UI signals the same way as you map regular I/O

@@FutureRoboticsChannel I've done it. But cmd enable UO[1] is an output from RoboGuide that I receive in the plc, and I cen read it in the plc sim as True or False, if I force it. So the connection is ok, as I read also the other UOP signals, the problem is that I don't have the UO[1] ad 1, I can force it, but it goes back to 0. In Roboguide I don't know the conditions that keep UO[1] to 1. Thanks

@@alsly9066 Do you have UI Signals enable (set to TRUE) in System/Config ?

@@FutureRoboticsChannel Yes, sure

@@alsly9066 Also UO signal are made (switched) by robot, if you want to have CMD enable some specific conditions needs to be met (eg. robot in auto, no fault, no active program etc.) You need to take a look at the manual to see all conditions :-)

RACK is a physical card connection between robot and card, so many I/O's can be assigned to one RACK. Same with SLOT, slot can accept many I/O's. Think of is as of a box with many open connections, so like in old controllers you've had a card that you were connecting wires to, so all of those wires will be connected to eg. RACK89 Slot 1, so DO or DI (1-8) will be connected just to RACK89. That's how the old-school I/O looks like: www.galco.com/buy/Fanuc/A03B-0819-C104?source=googleshopping&gclid=Cj0KCQjwsqmEBhDiARIsANV8H3bkn-eeyI1-hdOPOBG9Gk_8mcD-wzZF3rmxXPxaN-2NrFAW3fcNKdMaAgFUEALw_wcB

I'm explaining how to do it in 26:00, here: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-g_zJ_W2ANsY.html. If you are asking if it's better to turn in on during robot movement or when robot is stopped that depends on what are you using this I/O for.

Sir...I meant that how to use in Robot program...if DO[33:ON:cmnt]=OFF..how will it work??means which signal would go to PLC on or aff

Oh I understand, The "ON" that you see here: DO[33:ON:cmnt] Is the current value of the DO, so when the state of the DO will change to OFF you will see OFF there. The value that the PLC will see (you will send to PLC) is after the "=" So DO[33:ON:cmt]=ON - you will set DO[33] to ON, the code will look like this: DO[33]=ON and DO[33:ON:cmnt]=OFF - you will set DO[33] to OFF, the code will look like this: DO[33]=OFF

Thanks sir...

Lot to learn from you

That depends on how you will define your mapping, but assuming that all PLC communication will be assigned to this SLOT and RACK if you put 200 as your start, this means when you turn on the FIRST output from that assignment that PLC will see it as 200.

​@@FutureRoboticsChannel It means when I start with 200. but when my robot starts on DO1, plc will understand that DO201 is On right?

@@duongdo2517 it should be 200 on the PLC as well, but yes

Hi, @sagar patel, yes I could you give me a bit more details, is it spot welding, MIG/MAG, laser welding, etc. ? :-)

Thank you Sir. I want to learn about spot welding it’s quite difficult to get any knowledge about servo guns. It would be nice if you can share something about it...

@@sagarpatel-pn7jv Sure thing

@@FutureRoboticsChannel Thank You Sir..

Sure, when you go to the channel main page, in the right bottom corner on the banner you can find all links to my social + www.

those have to be mapped into UI/UO signals, can be mapped to DI/DO at the same time, but UI/UO are responsible for the robot start/stop

Sure, I can help, but I would need a bit more information. Is there any error on the teach pendant ?

@@FutureRoboticsChannel No there is no error on teach pendant and On HMI screen. in manual cycle robot is moving on program direction but in auto cycle robot is not getting signal. how can i contact you to show you video and photos.? can you please support regarding this. since last 2 days i am stuck on this problem

@@akashdalvi3012 Message me on Facebook (when you go to the main page of my channel you can find my Facebook information there)

@@FutureRoboticsChannel yes sir I had messaged on facebook also on mail

You just need to map the new device

I've just uploaded the video, enjoy ! ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-a3sUQixO_sk.html

Cell Interface is just additional function (I think it's available only for SpotTool) that allows you to use build in FANUC functions to connect specific actions to a DO, so instead of writing some background logic (eg to check if robot is at full speed) you can use Cell Interface.

@@FutureRoboticsChannel Thank you so much for your reply. It would be helpful if you make one video for Cell interface and Custom.

@@niravgevariya4491 Thanks for the feedback, I'll add it to my lift for future videos !

@@FutureRoboticsChannel Once again Thank you so much for quick reply and your positive reply. I am/will waiting for that video.