FANUC Robot Controller - R Model G
The ' Fanuc R model G ' robot controller is the generic name for 2 controller products - the original RG and later, the RG2 The ' Fanuc R model G ' and ' Fanuc R model G2 ' robot controllers have the capability of controlling from 3 to 6 axis on the robot, and providing multi-axis simultaneous motion. In addition to 6 robot mechanical unit axis, the controller has the capacity to control 2 additional axis. Additional axis can be used to extend the robot work area in the form of linear bases or gantries, but can also perform other simultaneous positioning functions such as welding manipulators. The controller offers linear and circular motion path types, together with specialist welding motion types - i.e. Weave Welding. The controller was not supplied with an integral CRT as the teach pendant is able to support all programming needs. The controller has a limited number of operator push buttons of the front panel. The teach pendant comprises a multi-line LCD display, some LED status indicators and a medium sized flat keyboard. Generally, the teach pendant is characterised by its ' T ' shape look, plastic body, and yellow ' Deadmans Handle ' in the back of the teach pendant. Earlier models were shipped with an adaptation of the aluminium rectangular RF controller teach pendant. Inside the controller, a backplane PCB supports a number of daugher PCB's mounted directly in a rack. Up to 8 amplifiers for the servo motors are mounted inside the cabinet. Programs are stored in static RAM memory with batteries to retain programs during power off periods. These batteries need to be replaced periodically. Various robot models provide absolute and incremental positioning systems. Absolute Pulse Coders provide absolute position feedback, with batteries provided to retain position data during power off periods. These batteries also need to be replaced periodically. The robot has the capability to work with vision systems if required. Version differences : RG contollers were initially released with the rectangular style teach pendant. This was quickly replaced with the plastic ' T ' shape teach pendant unit. The RG2 version of the controller offered faster, more accurate positioning due to its upgraded microprocessor system.