Startup Guide Thank you for purchasing a FANUC Robot.

Start
Here A. Unpack and Install your Robot 9. Connect the ground wire to the location on the robot base shown below.
Page 1
READ THIS FIRST
Note: The RMP cable is attached to the robot at the factory.
1. Cut the yellow shipping straps, then squeeze and pull the white tabs so the outer shipping
box can be removed. Back Cable Exit Bottom Cable Exit
Use this guide to unpack, install, turn on, and Removing Shipping Box
jog your new FANUC robot.
dŚĞĂƉƉƌŽƉƌŝĂƚĞůĞǀĞůŽĨƐĂĨĞƚLJĨŽƌLJŽƵƌĂƉƉůŝĐĂƟŽŶĂŶĚŝŶƐƚĂůůĂƟŽŶĐĂŶďĞƐƚďĞĚĞƚĞƌŵŝŶĞĚďLJ
ƐĂĨĞƚLJƐLJƐƚĞŵƉƌŽĨĞƐƐŝŽŶĂůƐ͘ƋƵĂůŝĮĞĚĞůĞĐƚƌŝĐŝĂŶƐŚŽƵůĚĂƉƉůLJƉŽǁĞƌ͘&EhƌĞĐŽŵŵĞŶĚƐ
RMP cable
ƚŚĂƚĞĂĐŚĐƵƐƚŽŵĞƌĐŽŶƐƵůƚǁŝƚŚƐƵĐŚƉƌŽĨĞƐƐŝŽŶĂůƐŝŶŽƌĚĞƌƚŽƉƌŽǀŝĚĞĂƐĂĨĞĂƉƉůŝĐĂƟŽŶ͕ĂŶĚ
take the necessary FANUC training course to operate the robot safely. Refer to your FANUC
ĚŽĐƵŵĞŶƚĂƟŽŶƉƌŽǀŝĚĞĚǁŝƚŚLJŽƵƌƌŽďŽƚĨŽƌƐĂĨĞƚLJƉƌŽĐĞĚƵƌĞƐ͘
Remove yellow straps Squeeze Tabs and Pull Robot and large box
Battery Box

Required Tools
2. Unbox the pallet, cut any shipping straps securing the robot, and unwrap the robot. Robot installation is complete. You are
now ready to go to B. Unpack and
Ground wire
Install your Controller.
‹Straight-headscrewdriver
‹Cross-head screwdriver
‹Torque wrench
‹Metric hex-head wrenches
3. Open the large box on the pallet. In the large box you will find an accessory box, your
controller, and, possibly, an optional Teach Pendant and Switch Box.
Required Items B. Unpack and Install your Controller
‹Properly rated transport equipment as specified
‹Customer-supplied properly rated power source as specified on the
Accessory
box
Controller 10. If you have not already done so, remove the controller from the box and place it in a
safe location outside of the robot work area such that the grounding wire and robot connection
Controller Power Source Label
cable can reach the robot.
‹Multimeter ‹Laptop or PC with Chrome or Safari browser
‹Loctite #242 ‹4-M8 bolts (SR-3iA)
‹Rigid platform to hold robot ‹4-M8 flat washers (SR-3iA) 11. Attach the RMP cable from the robot to the controller. (Refer to controller picture to the left.)
‹External e-stop switch  ‹4-M10 bolts (SR-6iA) 4. In the accessory box you will find a hardware bag (containing fuses, jumper plugs, and labels),
‹Safety fence/gate switch ‹4-M10 flat washers (SR-6iA)
an Inspection Data Sheet, ground cable, and a power cable.
‹Customer-supplied Ethernet cable 12. Attach the other end of the ground wire that you attached to the robot in Step 9 to the
the controller.
Store the Inspection Data Sheet in a
Optional Items Single Phase safe, known location.
‹Robot locator pins 13. Have a qualified electrician connect the FANUC-supplied power cable (wires marked L,
N, and ground) to an appropriate external power source.
200-230VAC

5. Remove the bolts securing the robot to the transportation equipment (shown below). ! WARNING
Lethal voltage is present in the controller whenever it is
R-30iB Compact Plus Controller connected to a power source. Be extremely careful to avoid

JRT3 USB
Robot
F Number and Power
Requirements Label 6. Use properly rated equipment to move the robot to its Crane
electrical shock. Lock out and tag out the power source at the
controller according to the policies of your plant.
connection new location. The robot alone can weigh as much as 30kg.

CD38A Breaker
! WARNING
14. Connect the other end of the
SR-3iA/SR-6iA

Sling FANUC-supplied power cable to the Input

Before moving heavy equipment, check Power Connection, located on the
and tighten any loose bolts. Do not pull right-hand side of the front of the controller.
eyebolts sideways. Otherwise, you will Don’t forget to connect the power cable Power cable
injure personnel or damage equipment. ground wire (attached to the Robot ground wire
Connection cable) to the power ground
Crane capacity: 100kg or more connection on the controller.
Sling capacity: 100kg or more
External E-stop/Fence
JRM18
Transport posture
15. Wire an E-stop switch into JRM18 Partial Pinout Connection
Power ground Eye connector JRM18 on the controller.
LEDs J1: -20° Bolt
connection Input Power Connector Bolt A partial pinout and wiring diagram
J2: 145°
Robot ground showing the e-stop connections is
J3:: -100 mm
connection shown on the right. For more detail
J4: 0°
see the R30iB Compact Plus
Transportation CONTROLLER MAINTENANCE
Robot (mechanical unit) - 㻶㻞 + equipment Plate for
MANUAL.
transportion
7. Fasten the robot securely to the base plate (tightening torque: SR-3iA 23-32 Nm; SR-6iA 46-66
Note: If JRM18 is not being used, make sure the FANUC-supplied dummy plug is inserted in JRM18.
Nm). Use locator pins to secure the robot precisely, if it is anticipated that repeated installations will be
- 㻶㻝 +
necessary in the future for service/maintenance. Note: If there is no Teach Pendant (TP), make sure the FANUC-supplied dummy plug is placed into
+
㻶㻟
- 8. Remove the transportation hardware (plate for transportation, transportation equipment, eye bolts,
the connector labeled TP.
Note: If the TP option is used without a switch box, add an “Auto Confirmation Signal” switch outside
and other hardware). Store these items and the robot skid in a safe, known location. These items are
of the safety fence, wiring it to one of the available digital input signals on the JRM18 connector.
needed for future transportation.
Note: If there is no switch box, make sure the FANUC-suppled dummy plug is inserted into the
connector labeled JRT3.
㼅
16. Connect the customer-supplied Ethernet cable between the PC and connector CD38A on
- + Plate for the controller.
㼄 㻶㻠 Transportation Controller installation is complete. DO NOT TURN ON
㼆 THE CONTROLLER UNTIL YOU ARE INSTRUCTED Go to
Note: all axes are
SR-3iA variant shown TO DO SO. Go to C. Turn on your Controller, Page 2
0q in this position.
© 2018 FANUC America Corporation. All Rights Reserved.
Update Software, and Initiate Communications.
www.fanucamerica.com MARGUSR3601181E REV A
Startup Guide C. Turn on your Controller, Update
^ŽŌǁĂƌĞ͕ĂŶĚ/ŶŝƟĂƚĞŽŵŵƵŶŝĐĂƟŽŶ
D. Jog your Robot
Menu
iRProgrammer PC Editor screen
TM

Programming
Text Editor
Tool bar keys
Page 2
Status bar keys

21. Use a web browser (Chrome or Safari) to connect to the robot’s default IP address,
! WARNING 192.168.1.100. The ROBOT Homepage shown below should appear. If the screen does not
appear, return to the previous step and verify that the PC and robot are on the same subnet.
Lethal voltage is present in the controller whenever it is connected to a power source. Be extremely careful to avoid
electrical shock. Lock out and tag out the power source at the controller according to the policies of your plant.

Breaker
17. Turn on the controller by turning the Breaker ON.
a. When the controller power up is in progress, the FAULT LED on the controller blinks.
b. When blinking stops, start up is completed.

18. Make sure the Power LED is ON and the Fault LED thas stopped blinking.
LEDs
Fault
Cycle Start
Power

Alarm LEDs

19.To ensure that the latest software is loaded, perform the following steps. 22. Make sure HMI iPendant is selected on the left. Position table Jog panel Instruction List
a. Insert the FANUC-supplied USB, loaded with the robot software, into a PC.
b. Using a text editor (e.g. Notepad++) on the PC, create a blank XML file called
STARTUPCONFIG.XML and save it to the root of the USB.
23. From the ROBOT Homepage, select iRProgrammer.
STARTUPCONFIG.XML
c. Plug the USB into the USB port of the controller with power off. Controller will perform operations based on instruction tags defined in this file
d. Turn the controller on. BOOTKEY.DAT, EXAMPLE.XML, and STARTUPCONFIG.LOG are 24. Select Teaching and choose Editor.
generated in the USB (UD1: device).
• In BOOTKEY.DAT, the key that allows execution of XML and CONTROLLER tags are generated.
The expiration date of the key is one hour from its creation.
25. The lower right side of the iRProgrammer PC Editor page has a control panel that can be
used to jog. Turn the TP enable key to ON.
• In EXAMPLE.XML, a description example of STARTUPCONFIG.XML is generated
• In STARTUPCONFIG.LOG, the log used during execution of the XML is written. Error information
(if execution fails) is also written here.
e. After the LEDs indicate that the power-up has finished (see step 18), remove the USB from the
controller. (Do not remove the USB from the controller during file writing.) Tag Instruction for Full Software Load
f. Open the USB on the PC. You will see the three files named in step 19d and another one;
26. Note: You might have to reset a fault. If so, press the RESET button at the top of the screen. Controller will execute a full software
SR-3iA/SR-6iA

STARTUPCONFIG.XML (see illustration of STARTUPCONFIG.XML to the far right). load with the following tag
g. Using a text editor, open EXAMPLE.XML, STARTUPCONFIG.XML, and BOOTKEY.DAT. Controller Element Tag Key Tag
h. Copy the contents of Example.XML and paste them into STARTUPCONFIG.XML. 27. To move each joint axis of the robot (called “jogging the robot in JOINT mode”), press Controller instruction tags must be added
between <controller> & </controller>
Valid key must be input in
startupconfig.xml from
i. Check the key in STARTUPCONFIG.XML. If it is the same as the key located in BOOTKEY.DAT, each joint jog key (labeled J1 - J6, see picture to the right) one at a time and watch the robot joint
skip to the next step. If not, perform the following: move. Refer to the Robot (mechanical unit) with joints indicated diagram on Page 1 of this guide. BOOTKEY.dat, key will expire
Root Element Tag 1 hour after generation
1. Copy the key from BOOTKEY.DAT (e.g. key = “590174ed-4b69388c ”)
! WARNING (All tags should be added between
2. Delete the key in STARTUPCONFIG.XML
<Root> & </Root>
3. Paste the new key from BOOTKEY.DAT into STARTUPCONFIG.XML When you execute jog operation by the Jog Panel, observe the following:
j. Copy the <CONFIG startmod = "full" personality = "1"/> instruction from the instruction list copied to - Jog operation must be executed from outside the safeguards.
STARTUPCONFIG.XML or from EXAMPLE.XML and paste it after the valid key instruction in the - Make sure that no one is inside the safety fence.
BOOTKEY.DAT
STARTUPCONFIG.XML file. - An operational Emergency Stop button must be near the operator.
- Jogging must be executed in the sight of the robot.
k. Save STARTUPCONFIG.XML.
l. Close all three files and remove the USB from the PC.
Note: In addition to jogging the robot, you can also move the robot by hand-dragging each axis.
m. Insert the USB back into the powered off controller.
n. Turn on the controller. The XML file will be executed. (Software will be loaded.) CAUTION: If it is desired to move axis 4 by hand, the brake release switch must first be pressed. Be

For more information

o. The software load may take some time; be patient. The load is finished when the FAULT LED on aware that, with this button pressed, gravity may cause axis 4 to move unexpectedly.
the controller stops blinking GREEN and turns off. CAUTION: If a person is inside the safety fence to move the robot by hand, the power to the
p. After the load has finished, remove the USB from the controller and open it on the PC. servo motors must be cut-off and locked out, to prevent automatic operation.
STARTUPCONFIG.LOG will contain information of what was performed. It will also contain error Robot Communication
28. To hand-drag the robot, make sure the TP enable key is off, and then physically grab and
Internet Options Setup and Operations Manual
information if an operation was not completed. Controller Hardware/Electrical Controller-specific Maintenance Manual
q. Cycle Power on the controller. move the robot. Software Installation Controller-specific Software Installation Manual
Robot Hardware Operations Robot model-specific Operator’s Manual
20. Set the default address of the PC as a static IP. The PC’s address should be chosen to be Software Operations
Alarm Recovery
Application-Specific Setup and Operations Manual
Controller-specific Error Code Manual
on the same subnet as the robot (the robot’s address is 192.168.1.100). Contact your systems
administrator for assistance.
Note. If the PC will be communicating with multiple robots over a network, each robot must have a
Down Robot? 1-888-FANUC-US
unique IP address. BRAKE RELEASE Canada & United States: 1-888-326-8287
SWITCH
www.fanucamerica.com © 2018 FANUC America Corporation. All Rights Reserved.
You have turned on your controller. You are now ready to go to D. Jog your Robot. You have installed your robot. You are now ready to add tooling and program your application.
MARGUSR3601181E REV A