Fanuc robot to Fanuc CNC Integration

[Cbyrdtopper]

We just finished integrating one of our Haas machines with a Fanuc robot; all in all it wasn't too bad. Haas has a really good integration guide that helps get things set up in the right order.
We are ready to start integrating our 2nd fanuc robot onto a DNM 5700.
There are several things that we would like answered or some light to be shed on the subject to be sure we know where we are starting from.
First off; my Ellison Tech apps guy sent me a document on how to add inputs and outputs to the PMC ladder; this way we can control I/O from the G Code program; so we can figure that out ok.
Initially, we want to know what the standard is for starting the robot and making the machine wait for the robot to finish.
1. To start the robot, do we need to use #1101 = 1 to turn on outputs that the robot will read?
2. When we are waiting for the robot to be finished, do we need to just put the program in a loop until an input goes true or an IF with a GOTO?
While #1001 = 0 DO1
END1
or
N50
IF #1001 = 0 GOTO50


Any insights or example programs or integration resources would be greatly appreciated.
-Chad

 

[Garwood]

I have not integrated a robot loader, but have done several 4th axis indexers. Same thing really.

Mstrt signal from the machine tells the robot to go.

Mfin signal from the robot tells the machine it's done.

The Fanuc will wait indefinitely until it gets the Mfin signal.

These signals are physical relay contacts closing.

 

[Cbyrdtopper]

I know the Haas has the Mfin signal stuff; but does the Fanuc controller?

 

[LockNut]

Fanuc uses an M Code, M20, to hand off the machine to any robot. DN Solutions fully supports this. It's been a while since I worked on a system like this but it should be easily found somewhere. Ask your Ellison dealer, they will be able to help.
All of our controls come standard with 4 free inputs and outputs. These can be used for the robot interface hookup.

 

[Garwood]

I know the Haas has the Mfin signal stuff; but does the Fanuc controller?

Yes.

I have never integrated anything with Haas. Fanuc is easy.

 

[Cbyrdtopper]

All of our controls come standard with 4 free inputs and outputs. These can be used for the robot interface hookup.

I've looked through our electrical Diagram that came with the machine and I found where the Mfin signal is supposed to be hooked into. Just for reference, it is X22.0 on Module CE56 and the same for the robot loading call Y22.0 on the same board. I do not have this board on my machine.
You said there are 4 I/O Points for use with the robot? Do you know how this is done and possibly what those are?

 

[LockNut]

M20 hands the machine off to the robot. The robot program takes over from there, until it hands back off to the machine. The 4 inputs and outputs would be used for something like the auxiliary components. M10 and M11 are for a rotary table clamp and unclamp. The extra M Codes are M91 thru M94. There are other dedicated M Codes for fixtures and such. You should talk to an integrator so that you can get the best solution to your specific case. I do not do this personally. If you want to speak with our integrator, call him at 973-618-2507. His name is Andy Chou. He does this all the time for our customers.
There is an M Code list on the machine in the EOP screen. You can look up all of the M Codes in the ladder to see what inputs and/or outputs those M Codes are tied too.

 

[Cbyrdtopper]

Thanks for the info! We will contact him in the morning. Hopefully he can tell me where the m20 output from the machine is and what input we need to plug in to to tell the machine the robot is finished; if we need that? Might just need a cycle start. I'm sure your integrator will be able to tell us more. We will need the extra mcodes to tell the robot what to do with the parts once they are finished or a tool broke or if the part is scrap.
Thanks again!