Separation of Lanthanides/ Lanthanides and Actinides
Fanuc DCS Safety Signals Fanuc DCS Safety Signals
1. CONFIDENTIAL - Not To Be Re-Distributed In Any Form
Friday Webinar Series
DCS Basics, Tips and Tricks, and New
Features
Thanks For Joining Us Today!
We Will Begin Shortly.
Haresh Moradia
FANUC America Corporation
2. CONFIDENTIAL - Not To Be Re-Distributed In Any Form
Friday Webinar Series
Today’s Speakers
Haresh Moradia
Senior Electrical Engineer
General Industry and Automotive Segment
Email: haresh.moradia@fanucamerica.com
FANUC America Corporation
3900 W. Hamlin Rd.
Rochester Hills, Michigan 48309
www.fanucamerica.com
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Access to Controls & Audio
If you experience any audio problems, we find that the ‘Call Me’ function works best
and usually resolves most issues. You can also use the ‘I Will Call In’ function or the
‘Call Using Computer’ function via speakers or a dedicated headset.
Audio Settings
Changing Audio
Settings
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Friday Webinar Series
Questions
We will be taking questions using the Q&A panel that can be found at the bottom
of your screen by selecting the icon. Any questions entered in the Q&A will
be addressed at the END of today’s webinar.
Use the Q&A to Ask Questions
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Access to Webinar Files
An archive copy of today’s presentation will be made available in 1 week on our CRC
website where you will be able to download OR stream it to your desktop.
An email will be sent to all webinar registrants when that information is posted.
Stream Download
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Friday Webinar Series
Today’s Speakers
Haresh Moradia
Senior Electrical Engineer
General Industry and Automotive Segment
Email: haresh.moradia@fanucamerica.com
FANUC America Corporation
3900 W. Hamlin Rd.
Rochester Hills, Michigan 48309
www.fanucamerica.com
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Agenda
Review the fundamentals of DCS and ordering options
Configure DCS Tool Change and Safe IO Connection
Introduce the Tablet Teach Pendant DCS User Interface
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DCS Basics
Features
Check the speed and position data of motors with two independent CPUs in the robot
controller
Detect position and speed errors immediately and shut down the motor power by two
independent channels
Safety data and processes are cross-checked by two CPUs
Self-diagnosis of safety hardware and software is executed periodically to prevent
potential failure accumulation
Benefits
Do not need additional external sensors to monitor speed and position
Certified to meet the requirements of International Standard ISO13849-1 and
IEC61508 by an internationally accredited certification body
Ease of Deployment
Compact workcell deployment
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Position / Speed Check Function – J567
Checks the position or speed of the robot and shuts down the motor power if these are out of the specified limit
• Joint position and speed checks
• Check the shape models of robot arm and tool are in the specified zone or not
• Check the speed of tool center point
• Check the difference between current tool orientation and base orientation
• Enable/Disable checking by safe I/O signal
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Position / Speed Check Function – J567
Functions
•Joint Position Check Function
•Joint Speed Check Function
•Cartesian Position Check Function
–Zone Check Function
–Orientation Check Function
–Target model collision check function
•Cartesian Speed Check Function
•T1 Mode Speed Check Function
•Basic Position Check Function
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Floor Space Reduction
Required Spacing x +
Stopping Distance
Fencing with required spacing +
Stopping Distance Spacing from
Restricted Space
Operating
Space
Restricted Space w/
Required spacing +
Stopping Distance Spacing
Restricted Space using
DCS Position Check
Fencing Requirements using
Mechanical Hard Stops
Fencing Requirements
using DCS Position Check
Operati
ng
Space
Restricted
Space
using
hard stop
Restricted
space
Fencing with required Spacing
from Restricted Space
Position / Speed Check Function – J567
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SAFE I/O Connect Function – J568
• Cat.4, PL e, SIL 3 function
–Some safe I/O are Cat.3, PL d, SIL 2 because the
source function is Cat.3, PL d, SIL 2
–i.e. CPC, CSC, JPC, JSC, SLI, SLO
• 3 character type and index (i.e. SPI[1])
• Show the internal status of DCS (i.e. CPC[1])
• Status output to safety output signal
• Safe I/O has redundancy internally
–SFDI11 and SFDI21 = Safe I/O signal SPI[1]
–Signal ON when both dual channel signals ON
• Read/Set Safety I/O every 2ms
• Supports logical operations (AND, OR, NOT)
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SAFE I/O Connect Function – J568
• Safe Peripherals
• SPI (1-64 or 1-128)
• SPO (1-64 or 1-128)
• Safe System
• SSI (1-14)
• SSO (1-7)
• Safety Internal Relays
• SIR (1-64)
• Cartesian
• CPC (1-32)
• CSC (1-16)
• Joint
• JPC (1-40)
• JSC (1-40)
• CIP Safety
• CSI (1-64)
• CSO (1-64)
• Config Change
• CCL (1-4)
• CCR(1-4)
• Robot Power
• RPI (1-4)
• RPO (1-4)
• FL-Net
• FSI (1-272)
• FSO (1-80)
• IO Link i Slave
• SLI (1-64)
• SLO (1-64)
• ---
• ON
• OFF
• Non-Safety Data
• NSI (1-32)
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SAFE I/O Connect Function – J568
Details of SSI
– SSI[1] – SVOFF
– SSI[2] – FENCE
– SSI[3] – EXEMG
– SSI[4] – NOT USED
– SSI[5] – NTED
– SSI[6] – OPEMG
– SSI[7] – AUTO
– SSI[8] – T1
– SSI[9] – T2
– SSI[10] – MCC
– SSI[11] – CSBP
– SSI[12] – POSSPD CHECK ENB
– SSI[13] – CONF_OK
– SSI[14] – F_IPAR_CRC
Details of SSO
– SSO[1] – C_SVOFF
– SSO[2] – C_FENCE
– SSO[3] – C_EXEMG
– SSO[4] – C_SVDISC
– SSO[5] – C_NTED
– SSO[6] – C_T1
– SSO[7] – C_T2
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External Mode Select Function – J569
• Operator Panel Switch Box Hardware
– R-30iB Compact Plus
– R-30iB Mini Plus
– DCS Mode Select Screen
• Software Options
– TP Mode Select Function – J768
• Excludes R-30iB
• Excludes R-30iB Mate
– External Mode Select Function – J569
• Operator panel must be “No mode
switch” type
– SYST-351 Mode select function mismatch
DCS Mode Select Screen
R-30iB Compact Plus, R-30iB Mini Plus or TP Mode Select Option
A05B-2690-H400
External Mode Select Function
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Adapter Safety Connection
ISO13849-1, IEC61508
Category 4
PL e
SIL 3
Three Options
DeviceNet Safety Function – J974
EtherNet/IP Safety Function – R713
ProfiNet Safety Function – J931
Up to 8 bytes of Safety Inputs and Outputs
Mapped to CSI and CSO
Includes Safe I/O Connect (A05B-2600-J568)
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Safety Function by FL-net – J586
Provides ability to exchange safety signals between a robot and other robots or CNCs by FL-net
FL-net Interface (A05B-2600-J759)
Safety function by FL-net (A05B-2600-J586)
Includes Safe I/O Connect (A05B-2600-J568)
Used with internal port (CD38A or CD38B)
3 Modes for selecting behavior when attending node changed to power OFF
Supports up to 203 safety inputs, and 70 safety outputs for 1 node
The number of input + the number of output must be equal or less than 210
Can use FL-net multicast
Safety function by FL-net settings are saved in sysflsf.sv
The limit of cable length is 100m which is same with FL-net
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Safety PMC Function – J764
ISO13849-1, IEC61508
Category 4
PL e
SIL 3
Control the sequence of safe I/O by executing sequence program of ladder language
Requires Integrated PMC (A05B-2600-J760)
Optional: PMC change mode (A05B-2600-R652) to display ladder diagram and
sequence program on teach pendant
FANUC LADDER-III for Robot required to create Safety PMC sequence program
R-30iB Mate controller requires main board with PMC Function
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Auxiliary Axis Servo Off (Local Stop) Function – J806
Prevents the unexpected motion of auxiliary axis
by cutting off the servo power of the auxiliary
axis (Safe Torque Off – STO)
Requires special hardware
Reference R-30iB Local Stop Function with STO
Maintenance and Order Manual (A-95028E)
Maximum 8 local stop can be defined in DCS
local stop menu
STO-OUT – safety output to command servo off
STO-FB – safety input to monitor servo off status
Fence – safety input to detect workspace violation
(i.e. light curtain)
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Teach Pendant Hot Swap Function – J647
Allows the connect / disconnect of teach
pendant without Emergency Stop alarm
Special hardware for hot swap function required
Uses safety I/O SFDI1 and SFDI2 on the
emergency stop board
Cannot be used on R-30iB Mate controller
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Shared Teach Pendant – R844
The capability use a single pendant among multiple robot controllers connected via Ethernet without
having to change where it is physically attached
User selects and logs in to a controller, then operates teach pendant as if it were physically attached to
that controller
Controllers are interconnected via Ethernet and configured as a shared Teach Pendant group
Defined in all controllers and up to N=16 controllers can be included in a shared Teach Pendant group
Option includes the following:
DCS Safe I/O connect (J568)
FL-net interface (J759)
Internet Connectivity/Customization (R558)
Safety function by FL-net (J586)
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I/O Link i Slave Function – R844
Communicates safety I/O with CNC controller via I/O Link I
CNC is the Scanner device, and the robot is the Adapter device of I/O Link i
Maximum 64 safety input and 64 safety output are available
Safety input signals from CNC are accessed as SLI[1-64]
Safety output signals to CNC are accessed as SLO[1-64]
Various hardware requirements based on controller selection
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Safe I/O Consistency Check Function – Standard
Check the consistency of a pair of safe
I/O
If the pair of Safe I/O status is not
consistent for the specified time, servo
power is turned off immediately
Servo power cannot be turned on until
pair of Safe I/O status becomes
consistent
Maximum 16 pairs of Safe I/O can be
checked
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Functions – Summary
Function name Standard / Option
ISO13849-1
IEC61508
Description
Emergency Stop Function
‒ Operator panel emergency stop
‒ Teach pendant emergency stop
‒ Deadman switch
‒ External emergency stop (EES)
‒ Fence input (EAS)
‒ SVOFF input (EGS)
‒ NTED input
‒ Robot disable switch
Standard
Category 4
PL e
SIL 3
Turn off servo motor power according to the
status of emergency stop input. This manual
does not explain this function because it is a
standard function of the controller.
Position/Speed Check Function
‒ Joint Position Check Function
‒ Joint Speed Check Function
‒ Cartesian Position Check Function
‒ Cartesian Speed Check Function
‒ T1 Mode Speed Check Function
Option
A05B-2600-J567
(Includes Joint Speed check function and
Basic Position check function)
Category 3
PL d
SIL 2
These functions check robot position and speed.
If the robot violates the programmed safety area
or exceeds the programmed speed limit, servo
motor power is turned off.
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Functions – Summary
Function name Standard / Option
ISO13849-1
IEC61508
Description
Joint Speed Check Function
Option
A05B-2600-J555
(This option is included in Position/Speed check function)
Category 3
PL d
SIL 2
These functions check robot axis speed. If the
axis exceeds the programmed speed limit, servo
motor power is turned off. This function can be
used as Stop check function when the speed
limit is 0.
Basic Position Check Function
Option
A05B-2600-J556
(This option is included in Position/Speed check function)
Category 3
PL d
SIL 2
These functions check robot position. If the axis
exceeds the programmed safety area, servo
motor power is turned off. This function is
restricted function of Cartesian Position Check
function.
Safe I/O Connect Function
Option
A05B-2600-J568
Category 4
PL e
SIL 3 4
This function executes logic calculations for safe
I/O. For example, users can control safety
outputs according to the status of
Position/Speed Check functions.
External Mode Select Function Option
A05B-2600-J569
(Includes Safe I/O Connect function)
Category 4
PL e
SIL 3
Safe I/O SSO[6] and SSO[7] are used to select
AUTO/T1/T2 operation mode in place of mode
switch on operator panel. To use this option, the
operator panel must be “No mode switch” type.
4 When SFDO pulse check is enabled, SFDO output is safety function of Category 4, PL e, SIL 3. When it is disabled, SFDO output is
safety function of Category 3, PL d, SIL 2.
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Functions – Summary
Function name Standard / Option
ISO13849-1
IEC61508
Description
DeviceNet Safety Function
One of the following options is needed
A05B-2600-J753 DeviceNet Master & Slave
A05B-2600-J754 DeviceNet Slave
Option 3
A05B-2600-J974
(Includes Safe I/O Connect function)
Category 4
PL e
SIL 3
The robot controller works as a slave device of a
DeviceNet Safety network and communicates
safety signals with an external safety master
device.
EtherNet/IP Safety Function
One of the following options is needed
A05B-2600-R784 EtherNet/IP Adapter
A05B-2600-R785 EtherNet/IP Scanner
(EtherNet/IP Scanner option includes EtherNet/IP Adapter function)
Option 3
A05B-2600-R713
(Includes Safe I/O Connect function)
Category 4
PL e
SIL 3
The robot controller works as an adapter device
of an EtherNet/IP Safety network and
communicates safety signals with an external
safety scanner device.
ProfiNet Safety Function
For R-30iB Mate controller, V8.30 series is
required for PROFINET Safety function. Order
A05B-2600-J930 for open air type controller.
Order A05B-2600-R834 if it is not open air type
controller.
Option 3, 5
A05B-2600-J931
(Includes Safe I/O Connect function)
Category 4
PL e
SIL 3
The robot controller works as a F-device of
PROFIsafe and communicates safety signals
with an external F-Host.
Safety Function by FL-net
To use Safety function by FL-net, the following
option is needed. A05B-2600-J759 FL-net
function
Option
A05B-2600-J586
(Includes Safe I/O Connect function)
Category 4
PL e
SIL 3
The robot controller communicates safety
signals with the other robot controller or CNC
controller.
3 A05B-2600-J974, A05B-2600-R713 and
A05B-2600-J931 are exclusive. Only one of
DeviceNet Safety, EtherNet/IP Safety or
PROFINET Safety can be installed.
5 For R-30iB controller, one of the following options is
needed to use PROFINET Safety function.
A05B-2600-J930 PROFINET I/O
A05B-2600-R834 Dual-Channel PROFINET (7DC3 series
is required)
These options are exclusive. Either A05B-2600-J930 or
A05B-2600-R834 can be ordered.
5 For R-30iB Plus controller, one of the following options is
needed.
A05B-2600-J709 PROFINET I-device
A05B-2600-R834 Dual-Channel PROFINET
These options are exclusive. Either A05B-2600-J709 or
A05B-2600-R834 can be ordered.
A05B-2600-J930 cannot be ordered.
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Functions – Summary
Function name Standard / Option
ISO13849-1
IEC61508
Description
Safety PMC Function 10 Option 6
A05B-2600-J764
(Includes Safe I/O Connect function)
Category 4
PL e
SIL 3
The robot controller controls the sequence of
safe I/O by executing sequence program of
ladder language.
Auxiliary Axis Servo Off (local stop)
Function Option 7
A05B-2600-J806
Category 4
PL e
SIL 3
This function prevents the unexpected motion of
auxiliary axis by cutting off the servo power of
the auxiliary axis. This function needs the
special hardware.
Safety I/O by Additional Safety I/O
Board 10
Option
A05B-2600-J131
Category 4
PL e
SIL 3
This function is able to add safety I/O
signals.
Safety I/O by I/O Unit-MODEL A 10
Option 8
Category 3
PL d
SIL 2
This function is able to add safety I/O
signals.
Teach Pendant Hot Swap Function
Option
A05B-2600-J647
Category 4
PL e
SIL 3
This function allows to connect / disconnect
teach pendant without Emergency Stop alarm.
This function requires special hardware for
Teach Pendant Hot Swap.
6 To use Safety PMC function, the following
option is needed. A05B-2600-J760
Integrated PMC
8 To use Safety I/O by I/O Unit-MODEL A,
please refer to the connection and
maintenance manual of I/O Unit-MODEL
A(B-61813EN).
10 To use Safety PMC function, Safety I/O by
additional safety I/O board or Safety I/O by
I/O Unit-MODEL A in R-30iB Mate/R-30iB
Mate Plus controller, the main board that
has PMC function is necessary.
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Functions – Summary
Function name Standard / Option
ISO13849-1
IEC61508
Description
Shared Teach Pendant Function
Option
A05B-2600-R844
Category 4
PL e
SIL 3
Teach Pendant is able to operate other
controllers in Shared Teach Pendant group. This
function requires exclusive hardware.
I/O Link i Slave function
To use I/O Link i Slave function, the special Main
board and CPU card are needed.
Standard
(But the exclusive hardware is needed)
Category 3
PL d
SIL 2
The robot controller communicates
safety signals with CNC controller by
I/O Link i.
Safe I/O Consistency Check Function
Standard
Category 4
PL e
SIL 3
This function check consistency of a
pair of safe I/O. Servo motor power is
turned off on inconsistency status.
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Tips and Tricks
DCS Tool Change Setup
Safe IO Connect Logic
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DCS Tool Change Setup – Setting up Tooling Frames
Setting up Frames
Two tool frames set up
Tool 1
Tool 2
Example
Tool 1 and 2 with two identical tool
frames
They do not have to be identical
First step in the process in setting up
DCS Tool Change
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DCS Tool Change Setup – Setting up User Models
User Model List
Create user models for each tool
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DCS Tool Change Setup – Setting up User Models
User Model 1: Tool 1
Create the DCS Model
Example
Box
X, Y, Z := 200
No offset
Tool 1 is enabled
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DCS Tool Change Setup – Setting up User Models
User Model 2: Tool 2
Create the DCS Model
Example
Point
Size:= 100
Pos1, Pos2 Z := 100
Tool 2 is enabled
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DCS Tool Change Setup – Setting up Tool Select Mode
Tool Select: -1 (Tool Change)
Assignment of CSI signals from Safety
PLC to Robot Controller
CSI[21]: Tool 1
CSI[22]: Tool 2
Note: @ for No. 1, indicates Safety
PLC is selecting Tool 1
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DCS Tool Change Setup – Configuring CPC for Tool Select
Target Model 2: Tool Change
Cartesian Position Check monitors Tool
1 and Tool 2
PLC Safety Signals select tool
configuration
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DCS Tool Change Setup – Configuring CPC for Tool Select
CSI[21] and CSI[22] from Safety PLC used for DCS Tool Mode Select
Only one tool can be selected: SRVO-416 DCS Tool Mismatch (G1) 1,1
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DCS Safe IO Connect
Internal Logic to monitor and control
safety logic
Minimal logic for zone control
Example
Disabling Input SIR[23]
Safe IO Connect Logic configured to
monitor CSI[23] AND !CSI[24]
CPC 8 monitors SIR[23] as disabling
unit
Zone 8 disabled, no fault, orange
display
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DCS Safe IO Connect
Example,
Light Screen violation by operator
CPC 8 Becomes Active
SRVO-402 DCS Cart. Pos. Limit (no.8,
G1, M0) faults
Zone 8 enabled, violated, red display
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DCS Tool Mode Select and Safe IO Connect
Tool Mode Selection
Allows different models to be selected
based on tool changing
Multiple tool interfaces can be
configured
Only a single tool can be selected using
safety signals
Single Tool selection monitored actively
DCS Safe IO Connect
Perform simple safety logic within
controller
Activate and deactivate speed and
position checks
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DCS Latest Feature – CRX Tablet TP DCS Interface Screens
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CRX Tablet TP DCS User Interface Screens
CRX Robot Controller Latest (V9.40P/12)
Latest DCS Interface Screens
Robot Move Zone
Robot Restricted Zone
Hand / Vacuum
Hand / Welding Torch
Hand / Gripper
Select a Different Robot Move Zone
System Specific Libraries for Ease of Use
Quick setup
Adjustment of few parameters
Dynamic visualization of changes
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Robot Move Zone
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Robot Move Zone
Import configuration for a Robot Move Zone
Example: Cartesian Position No. 8
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Robot Move Zone
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Robot Move Zone
Templates for ease of configuration
Quick integration
Ease of use setup
Dynamically adjust and apply
All screens interactive
Ability to temporarily reset DCS violations to move
robot into safe position
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DCS Setup Screens
Alternative to the template approach
DCS setup as in previous version
Limited to the following
Joint Position
Joint Speed
Cartesian Position
Cartesian Speed
User Model
Safe IO Connect
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DCS Speed Check
Displays DCS
Configured Zones
Displays unused
zones
Parameters
configurable
Disabling Input
programmable
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DCS User Model
Configure user
models, up to 16
Set up specific
shapes
Configure
boundaries of
shape
Configure link
(i.e. FacePlate)
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DCS Tablet TP Interface Screens
DCS Tablet TP Interface screens introduce the
concept of templates to easily setup and configure
zones
Move Zones
Restricted Zones
EOAT
Hand / Vacuum
Hand / Welding Torch
Hand Gripper
Selecting Move Zones
Easy interactive screens assist in setup and improve
the ease of use
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Questions
We will now be taking questions using the Q&A panel that can be found at the bottom of
your screen by selecting the icon.
Use the Q&A to Ask Questions
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FANUC ASI Network Benefits
ASI Network Benefits give you access to a lot of great features including the FANUC
Sales Toolbox, the FANUC Advantage Marketing Program, and many other marketing
programs.
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Access to Webinar Files
To access, please visit crc.frc.com, click on the ASI Network tab, and select the Friday
Webinar Series link from the toolbar on the left side of your screen.
ASI Network Tab at crc.frc.com
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Today’s Speakers
Haresh Moradia
Senior Electrical Engineer
General Industry and Automotive Segment
Email: haresh.moradia@fanucamerica.com
FANUC America Corporation
3900 W. Hamlin Rd.
Rochester Hills, Michigan 48309
www.fanucamerica.com