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Question related to Fanuc RJ3iC controller with an RB165F

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Frankie Ellis

I hope someone would help me with this. I am having a FANUC RJ3iC controller having an RB165F robot having 7 axis. I am having air chucks which are advancing to activate the clamp over 7th axis when it is running and then it retracts. But, when the robot is in teach then tech is having its full control. It happened quite a few times that the chucks have been left engaged and the 7th axis is rotated by breaking the chucks. This is becoming expensive. Instead of finding new techs, I would like to be able to not allow the 7th axis to move when those chucks are advanced, when we are in teach. 

Any suggestions would be highly appreciated.

Thank You

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    Juan Turner
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    Have you ever tried using one of UOP signals in the interlock? I guess its name is CMDENBL. I believe there is any UOP signal from where the robot from where the robot has indicated AUTO such as the interlock having a brake or is in series with a relay over the output of the chucks. 

    Therefore, if you are in the auto mode then enable the chucks letting the PLC or the robot to control the output but if your are not using the auto mode then chucks disengage or drop out no matter what the robot or PLC say because the output wires have been disconnected from the chucks and prevent them from actuating.

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    Laurence Price
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    Hi, I believe that there is an output terminal for enabling whenever robot key is switching to the Auto or Remote modes. However, whenever it is placed in the Local output turns it to OFF mode. This could be one of a possibility. The second possibility I think that there must be an output terminal where the teach pendant switches to ON position and there is another possibility can be third possibility that adding an output in beginning of the program enabling the chucks to become ON whenever program is running in auto mode.

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    Muhammad Ishaq
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    Hello Frankie!
    There are numerous ways through which you can cater this problem.

    1. You can try running the chuck energizer outputs through a contact surface having a hard wire circuit for putting it in safe state in case if 7th axis is already energized.
    2. If you are having control of the air chucks through PLC then you can put the safety logic to the air chucks in safely manner for enabling the teach pendant.

    best of luck.

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