FANUC

FANUC Robotics Integration - Fast/Easy Integration using CIP & EDA

PUBLIC

Rockwell Automation TechED 2016

@ROKTechED

#ROKTechED

CNC | ROBOT | ROBODRILL

Source for Intelligent Automation Solutions

Core Technology
> 350,000 robots
installed worldwide

> 14.0 million servo

motors installed
worldwide

> 3 million CNCs installed worldwide

> Leading supplier of small machining

centers, electric injection molding machines
and wire EDMs

World Wide Support With Over 230 Offices in 45 Countries

We Support your FANUC product for its Entire Production Life

Diverse Markets

Aerospace

Energy

Agriculture
Construction

Furniture

Cosmetics

Automotiv
e

Glass
Beverage
Food

Jewelry
Paper
Textile

Metal

Die Casting

Fabric
Electronics

Medical & Phamaceutical

Plastics

Wood

Voice of the Customer

Increasing machine integration complexity
More safety functions (area scanners, light curtains, gate switches )
Auxiliary motion for Material Handling/Transfer, weld and dispense gun
apps
Visual inspection systems (Cameras, surface scanning )
New safety & security requirements being added
SIL3, PLd safety networks
Heightened security and access functionality
Information Technology connection is more important . . .
Information is being driven throughout the organization
Traceability is now a standard requirement
Seamless integration of multiple vendors products to meet
Ethernet being driven to many devices
these requirements is a value to our customers!
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Integrated Cell Architecture

EtherNet/IP
Integrated
Machining Cell
Architecture Provides:
Simplified Architecture
Improved Productivity
Manufacturing Intelligence

Safety-Integrated Network

FANUC Robotics and

Rockwell Automation Connectivity

FANUC / Rockwell Automation Integration

FANUC has provided premier integration technologies for Rockwell
Automation products for over 30 years based on common customer and
market requirements.

FANUCs partnership with Rockwell Automation includes an extensive

collection of technologies and products from low level device I/O
communication to advanced data and display integration that simplify and
enhance the user experience.

FANUC / Rockwell Automation Integration History

FANUC introduced an Allen-Bradley Remote I/O adapter interface back in the
mid 1980s that integrated Allen Bradley hardware directly into the Robot
backplane for tight I/O integration.
FANUC has continued to expand the number of products that tightly integrate
FANUC robots and Rockwell Automation PLCs / HMIs over the past 30 years.

Allen-Bradley
Remote I/O Adapter

1980

DeviceNet Master
DeviceNet Slave

1990

Ethernet/IP Safety
Enhanced Data Access
PC Remote iPendant
Remote iPendant

Ethernet/IP Scanner
Ethernet/IP Adapter
DeviceNet Safety

2000

2010

FANUC / Rockwell Automation Integration Timeline

2020

FANUC / Rockwell Automation Integration

FANUC is focused on providing integrated products in 3 major technology areas
Tight HMI Integration
Provides the same Robot HMI screens on both
the robot teach pendant and the system HMI
Structured Data Collection/Access
Enables enriched custom HMI screens by
providing most robot data types in a
structured format

Open Standards I/O and Safety Integration

Provides quick and easy to setup device I/O
connections for both standard and safety
rated I/O between the PLC and Robot

FANUC / Rockwell Automation Integration

HMI
Integration
PC Remote iPendant (RTL-R850)
Remote iPendant (RTL-R843)

Structured Data
Collection/Access
Ethernet/IP Enhanced Data Access
(RTL-R822)

Standard and Safety I/O Communication

Ethernet/IP Adapter
(RTL-R784)

Ethernet/IP Scanner
(RTL-R785)

Ethernet/IP Safety
(RTL-R713)

Premiere Integration Based on Customer Demands

EtherNet/IP Adapter
EtherNet/IP Scanner
CIP Safety
Enhanced Data Access
Internet Connectivity
Remote iPendant
Rockwell Automation AOP for
FANUC Robot

PanelView Plus

Logix Controllers

Standard and Safety I/O Communication

EtherNet/IP Options
EtherNet/IP Adapter
Adapter functionality for communication to PLC or other robots

EtherNet/IP Scanner
Scanner functionality for communications to robot controlled devices

EtherNet/IP Safety (CIP Safety)

Safety adapter functionality for safety interlocks with PLC without need to
hardwire cell safeties
Can be used to compliment, or in-lieu of hardwired interlocks

EDA (Enhanced Data Access)

Provides an easy way to share variables, registers and other data between the PLC
and robot with an easy setup that is done from the robot Teach Pendant
Full Suite of EtherNet/IP options to fit the
application

Ethernet/IP Adapter
FANUCs EtherNet/IP Adapter option allows the robot to
communicate with an Ethernet/IP Scanner typically a PLC or
another FANUC robot quickly and easily

Up to 32 connections are supported, allowing multiple scanners (PLCs) to

communicate simultaneously
Supports APIs as fast as 8ms
(2) Ethernet ports on the robot support EtherNet/IP, allowing independent
and isolated networks

Control Logix with Ethernet/IP Scanner

Robot with E/IP Adapter

Robot with E/IP Adapter

Ethernet/IP IO Block

Robot with E/IP Adapter

Ethernet/IP Scanner
FANUCs EtherNet/IP Scanner option allows the robot to communicate with
an Ethernet/IP adapters typically I/O blocks, Valve Packs, Process
Equipment or other FANUC robot quickly and easily

Up to 32 connections are supported, allowing connection to up to 32 devices

Supports APIs as fast as 8ms
Supports Quick Connect for tool changes or other disconnectable devices
Includes the EtherNet/IP Adapter option
(2) Ethernet ports on the robot support EtherNet/IP, allowing independent and
isolated networks

Robot with
E/IP Scanner
Robot with E/IP Adapter

Ethernet/IP IO Block

Ethernet/IP IO Block

Robot with E/IP Adapter

With 2 available Ethernet ports, It is possible to

use one port for EtherNet/IP to the PLC, and
the second port for robot controlled devices

Ethernet/IP Safety
FANUCs EtherNet/IP Safety option allows the robot to communicate
with an Ethernet/IP Safety Scanner such as Rockwell Automation
GuardLogix

A single Safety Connection is supported

Up to 8 bytes of Safety Rated Inputs and Outputs are available
Supports Category 4 PLe
Either Ethernet port in the robot can be used
No additional hardware is required in the robot to support CIP Safety

PLC with Ethernet/IP Safety

Robot with E/IP Safety

Robot with E/IP Safety

Robot with E/IP Safety

Robot with E/IP Safety

DCS (Dual Check Safety) Architecture

FANUCs Robots provide for Software Safety in much the same way
GuardLogix from Rockwell Automation, through the use of multiple
CPUs to provide Cat 4, PLe SIL3 performance for CIP safety inputs as
well as Hardwired signals
Provides for increased functionality over traditional Safety Interface
Main board

CPU 1
CPU2

CPU 1

CPU 2

Hardwired Signals
E-Stop

Fence
Servo Off
+
SPIs

E-Stop Unit
I/O circuit #1

6 Axes Amplifier

I/O circuit #2

Robot Mainboard
Servo Power

MCC
#1

MCC
#2

CIP Safety
CIP Safety
Supported on DeviceNet and
EtherNet/IP interfaces
Category 4, PL e, SIL 3 safety rating
for I/O
Up to 4 words of safety I/O
available, allowing up to
64in/64out of Safety I/O
Exceeds what is possible without
network safety
Capable of complex safety logic and
interlocking that is either not possible,
or cost effective with hardwired
solutions

Bypass mode is
used to disable CIP
Safety during initial
setup

Safety I/O Size

Safety PLC is configured to include a
Configuration Signature check as part of
connection establishment

Integrated CIP Safety

Non-Integrated Network Safety Interface

Required a 3rd Party Safety I/O Block
Additional wiring to hardwire robot safety signals
Limited I/O Size (typically1 or 2 bytes)
Limited Signal Access

Could handle only basic safety requirements

Added Cost and complexity

Integrated Network Safety Interface

No need for a 3rd Party I/O Block or Additional Wiring
Uses the same connection as Non-Safe I/O
Up to 8 bytes of available I/O
Extended signal access

Easily handle advanced safety requirements

Seamless Integration, Improved Flexibility,

Enhanced Performance, Lower Cost

Safe I/O Connect

The Safe I/O Connect feature provides a means to tie the
CIP-Safety I/O to a particular safety signal in the controller

Category 4, PL e, SIL 3 Interconnection of CIP Safe

I/O to specific Safety signals in the robot
i.e. CSO[1] = SSI[6] Robot E-Stop Push Button Pressed
CIP Safety Output (1) is associated to the robot EStops

Supports up to 64 I/O connect settings

Supports logical operations such as AND, OR, NOT
Up to 2 Inputs allowed per Output
To include 3 or more inputs, use safe internal relay
(SIR)

2ms Scan time for Safe I/O Connect

Can be used in conjunction with hardwired safety circuits
if desired

Hardwired safety circuits

on E-Stop
boards
Why the
need
for are
so always
muchactive
available Safety

on a Robot?

I/O

DCS Position/Speed Check

DCS Position and Speed Check allows for increased flexibility and function for both Application
and Design

DCS monitors the position and/or speed of the robot and shut down motor power when the defined
safety parameters are exceeded
Cartesian & Joint Position Monitoring
Cartesian & Joint Speed Monitoring

Meets Safety Category 3 PLd and the requirements of ANSI/RIA/ISO/EN 10218-1 for safety performance
Dynamically enable/disable checking based on Safety Inputs

It is the ability to use CIP Safety Inputs to

enable or disable these zones safely that has
improved not only functionality, but also safety

DCS Speed Check

DCS Position Check

CIP Safety Muting

DCS Cartesian Zone used to
protect Operator loading to
robot shared Space. CIP Safety
I/O used to safely Mute zone
When CSI[11] = OFF
Robot DCS Zone active
When CSI[11] = ON
Robot DCS Zone Muted
Easily handle even the most complex interfaces
with ease by expanding Safety I/O to meet
required functionality

Safety Signature Aggregation

Many FANUC/Rockwell Automation
Customers require that the individual
safety signatures of Safe devices be
tracked and verified within the
manufacturing system to ensure safety
1. EDA

Using EDA, the robot can send the Safety

signature(s) to the PLC, as either part of an
Implicit or Explicit Connection

2. Traditional Explicit Message

Signature value can be passed based on a
standard Explicit Message request

3. Standard I/O

Group Output from the robot to represent

the construct of the current signature

Structured Data Collection/Access

EDA
Enhanced Data Access

Ethernet/IP Enhanced Data Access

FANUCs Ethernet/IP Enhanced Data Access option allows users to quickly and easily
communicate non-I/O data between a FANUC robot and a Rockwell Automation
PLC/HMI
The robot creates the necessary UDT data structures and
ladder logic in the PLC to send and receive data based on a
user defined data structure.

Supported data types include:

Data, Position and String Registers*
System variables (read access only)
KAREL Variables
Current Position
PLC Logic and
Data Structures
Exported from
Robot

Use Data
from Robot
in custom
HMI display
PLC Logic and
Data Structures
Imported into User
Project

* Available with
Explicit Messaging

Robot-PLC Interface - Overview

FANUC R-30iB Controller

Studio 5000

2. Import data file

into Studio 5000
Software

1. Setup &
generate data
file on the
Robot

PC w/ Industrial Monitor or
Panel View Plus

Standard setup w/
Factory Talk View

EtherNet/IP
Logix
Ladder function
blocks created
automatically
Standard I/O, safe
I/O & data are
setup from same
interface

Ethernet/IP Enhanced Data Access

Data Configuration Process
Data setup is done either with the
robot teach pendant, or a textbased XML file to communicate
data to the PLC (.L5X file)
Both Implicit and Explicit
Connections are available
Implicit Connection limited based
on amount of traditional I/O
Assigned
Explicit Messaging

Data Structures (including

Comments) are then imported
directly into Studio 5000

Import into Studio 5000

Import file into Studio 5000
1. Import program generated on Rungs for Implicit
Connection
Robot (.L5X extension)
2. Upon import, data structures
Data Structures
Created
and Rungs created automatically
Rungs for Explicit
Connection

Enhanced Data Access (Capabilities)

Useful Information

Requires RSLogix5000 V20 and higher

Implicit connection maximum data size:
490 bytes of Robot Input data per connection
490 bytes of Robot Output data per connection

Explicit connection maximum data size:

464 bytes of Robot Input data per connection
496 bytes of Robot Output data per connection

Number of simultaneous connections per Robot

1 Implicit Connection from each PLC Scanner Module (General Profile)
4 Implicit Connection from each PLC Scanner Module (FANUC Robot AOP)
Up to 6 Explicit connections including other manually created Explicit Message
Blocks

EDA Settings to set correct .L5X file format

8.30/P21 and older
.L5X works for generic profile, but needs
to be manually updated support new AOP
from Rockwell Automation

8.30/P22
User Selects desired configuration so no
editing of .L5X is necessary for Rockwell
Automation Import
Ethernet Module = Generic Interface
FANUC Robot = New AOP

HMI Integration

Remote iPendant
FANUCs Remote iPendant option allows
Remote read/write access to most
iPendant screens from non-PC HMIs
PanelView Plus 6 Enhanced
PanelView Plus 7 Performance, Apple
iPad, Android Tablet)*

iPendant for HMIs

Provides support to remotely jog the

robot from the HMI

Some iPendant screens are excluded

based on lack of ActiveX controls
4D Graphics, Panel Wizard, iRVision
setup

View on iPad / Android

Tablet

Emulated iPendant Keypad

* Requires Brower
support

PC Remote iPendant
The PC Remote iPendant option allows you to connect a HMI / PC as the
iPendant and jog the robot remotely. The connection is only allowed when the
robot is in Auto Mode. The teach pendant, if disabled, is logically disconnected
from the robot.
Allows remote pendant operations with no limitations:
View all menus and change settings
Foreground editing a program
Change I/O status
Change register, position registers, string register
Jogging the Robot
Running a robot using the FWD/BWD keys
Changing COORD
Changing Speed Override
Clearing DCS alarm
Applying DCS parameter

* Requires Windows
and IE Browser

Flexibility in Implementation

Scalable Architecture
FANUC products are designed to work
together at the machine level without the
need of PLC
Many Customers for small installations prefer
not to add the initial complexity of a PLC, and
simply use the FANUC interfaces
As additional systems are added, and higher level
monitoring is required, they then look to add a PLC

With EtherNet/IP it is easy to add a PLC to the

system without having to re-engineer the
original system
Easily add Control
Easily add or enhance Safety
Easily add system monitoring

Automation Fair - 2015

For the Automation
Fair 2015 FANUC
highlighted not only
our proprietary
interfaces, but also
how easy it was to tie
everything together
for additional control,
enhanced safety, and
enterprise level
monitoring

Automation Fair - 2015

CR-35
EtherNet/IP

PMI

FL-NET

ETHERNET/IP
CIP Safety

ETHERNET/IP
CIP Safety
EDA
SYSTEM HMI

ETHERNET/IP
CIP Safety
EDA

FL-NET WITH SAFETY

Rockwell Automation
PLC System

ETHERNET/IP
CIP Safety
EDA
FL-NET WITH SAFETY

Integrated Multiple CNCs & Robots

IT
Network

ENET
Router
To other Stations

PanelView
Plus

RFID
Model A
I/O

IP67 I/O
ArmorBlock
IP67 I/O
ArmorPoi
nt

IP20 I/O
Flex I/O
Safety
Component
s

Dual
Check
Safety
I/O

Model A
I/O

IP67 I/O
ArmorBlock

Dual
Check
Safety
I/O

Model A
I/O

IP67 I/O
ArmorBlock

IP20 I/O
Flex I/O
Safety
Component
s

Dual
Check
Safety
I/O

IP20 I/O
Flex I/O
Safety
Component
s

GuardLogix

Safety Guarding,
Gantry Control,
Conveyors, Coolant
& Chip System, etc

One Network for IT, Interlocking,

Distributed I/O, and Safety

Ethernet/IP Media is common

industrial standard cabling and
connectors

One EtherNet/IP Network Connects Everything including Safety!

Whats New?

FANUC Robot Add-On Profile

A FANUC Robot AOP is available that will make
the Fanuc Robot available in the module selection
dialog

Add on Profile Benefits

The New AOP provides the
following enhancements over
the original generic module
Support for up to 4 Implicit
connections
Support for both Safe and NonSafe I/O on the same device
No more requirement for 2
connections and the ramifications

Up to 8 Logix controllers can be

connected to a robot

Single Connection Benefits

Previous Generic Profile required
separate connections for Safe and
non-Safe I/O
2 Connections in RS Logix

New AOP for FANUC Robots

requires only 1 connection in
Logix for both safe and non-Safe
I/O

Either (2) IP addresses (2 Cards) or

one IP Address and one DNS

IP:205.55.45.13
IP:205.55.45.13
IP:205.55.45.14

IP:205.55.45.13
DNS: ROBOT

Recent Trends

Offline Validation
Users are looking to connect their Rockwell Automation PLC to
their Virtual Robot in ROBOGUIDE to perform some controls
debug before the system is built
Logix
This is possible by enabling
EtherNet/IP within the virtual, and
EIP
then connecting the PC to the PLC
network
Support for
EIP Adapter
Enhanced Data Access

Not Supported
CIP Safety

Power Users:
TESLA
Metalsa

EtherNet/IP in ROBOGUIDE
Configuring your Virtual Robot to talk to an Rockwell Automation PLC will
be easy and straight forward
1.
2.
3.
4.

Create your Workcell with EIP

Setup PC IP Address
Enable EIP in virtual robot (Virtual Robot will get IP address from PC)
Connect PLC and connect using standard Rockwell Automation Tools

Supports EDA, not

just I/O

The Future is NOW

Integrated Architecture
Interoperability
Future Proofed with Open
Standards
Proven Performance from
Industry Leaders

Value = Reduce Total Life Cycle Costs

Highly scalable solution (I/O capacity, Logix capability, communications

options, FANUC controller platforms)
Purchase only what you need from our standard product offerings

Reduce Engineering, Start-up and IT integrations costs

Reduce Maintenance Costs

Access to control architecture from anywhere via seamless routing between

networks

High degree of familiarity, capabilities, quality, etc.

Global Support & Local Supply

Reutilization of legacy products backwards compatible with current FANUC

installed base controls

World Class Companies Working Together

FANUC & Rockwell Automation

We care what YOU think!

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mobile app to tell us how were doing.
Locate session using Schedule
Click on the

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Thank you!
Rockwell Automation TechED 2016

@ROKTechED

#ROKTechED

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