Hello, I have a problem with digital outputs on the Fanuc LR Mate 200iD robot. I had to expand robot with another DI/DO via a connector converter board (A20B-2004-0411) and then a CRMA15 cable to the Fanuc Robot 50-pin Terminal Block Splitter FX-50HD/Z FX-50HD/K. After trying to turn on the DO101, I get the message "port is not defined". I was looking for some guide/documentation on how to configure and expand the outputs of the robot in the terminal (DI101-116, DO101-108)
Fanuc LR Mate 200iD R-30iB - port is not defined
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postek -
December 13, 2023 at 8:24 AM -
Thread is Unresolved
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- Best Answer
Hi,
The asterisks indicate that the DOs hasn't been configured/mapped yet.
You need to map the "virtual" signals (DOs) to a physical I/O (either a terminal, like the one you have, or a fieldbus).This is done in the config-menu that you can access by pressing F2 while in the same screen as you are on your picture.
There, you can configure to which (physical) I/O you want the DOs to belong.
For the Mate controllers CRMA15/16, this is located on rack 48, slot 1.
The start number just determines where in your physical area your mapping should start.
For instance, this mapping:
would give this result:
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Thanks for your help but I haven't solved the problem yet...
1. I set the mapping as you showed, tested DO101 and according to the above diagram on the Fanuc Robot 50-pin Terminal Block Splitter I should have a high state (+24V) between pin 33 and 17 . Unfortunately, nothing changes - I still have 0V.
(I have +24V between (17-18) and (49-50) so there is power in the terminal.2. Do I understand correctly that
- "DO" are my "program" outputs - variables in the robot system,
- "Physical I/O" are the actual outputs on the terminal inside the control box? so DO101 is a physical output on pin 33 of the terminal
I think that the mapping you showed does not set the physical output DO101, but activates DO101 as a variable in the robot control system that controls the real physical output DO1. Do I understand it correctly ?should the correct mapping look like this:?
3. I have yet to configure the digital inputs (DI101-116), so I would like to understand how "Range", "Rack" "Slot" "Start" work (I think it will also be useful for everyone else to understand - there will be fewer questions until we know how it works ).
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Range, Rack, Slot, and Start are all covered in the forum already, you'll have to search. Just remember that Fanuc does not use zero-based numbering, so all indexes start at 1. I've attached a Fanuc rack number reference for future use.
Your mapping for DO[101] - DO[108] is correct.
You need to supply the outputs with 24vdc. You can supply this from pins 49/50, but I would highly recommend using an external 24vdc power supply.
+24vdc needs to be supplied to "DOSRC1" pins 31/32
0vdc needs to be connected to "0V" pins pins 17/18/29/30 if using an external supply
Phoenix Contact makes an I/O breakout board which can come in handy. I would try to get one outside of Fanuc, they're pricey. The Fanuc p/n is A05B-2650-J071.
Fanuc document B-83525EN is your friend when dealing with Mate controllers.
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Thanks for your help but I haven't solved the problem yet...
1. I set the mapping as you showed, tested DO101 and according to the above diagram on the Fanuc Robot 50-pin Terminal Block Splitter I should have a high state (+24V) between pin 33 and 17 . Unfortunately, nothing changes - I still have 0V.
(I have +24V between (17-18) and (49-50) so there is power in the terminal.2. Do I understand correctly that
- "DO" are my "program" outputs - variables in the robot system,
- "Physical I/O" are the actual outputs on the terminal inside the control box? so DO101 is a physical output on pin 33 of the terminal
I think that the mapping you showed does not set the physical output DO101, but activates DO101 as a variable in the robot control system that controls the real physical output DO1. Do I understand it correctly ?should the correct mapping look like this:?
3. I have yet to configure the digital inputs (DI101-116), so I would like to understand how "Range", "Rack" "Slot" "Start" work (I think it will also be useful for everyone else to understand - there will be fewer questions until we know how it works ).
First....
What pdl wrote. Read it and understand it
Second, Don't get hung up on the numbers for the I/Os that are mentioned in the manual. For some reason FANUC has an auto-config function that will automagically map I/Os to a certain number and this is (usually) reflected in the manuals.But I would prefer a more general description where instead of writing "DO[101], DO[102], DO[103" and so on, they would write DO[n], DO[n+1], DO[n+2]" etc.
Third, you are correct in that DO is just the virtual/imaginary naming of the signal that through the I/O config/mapping is connected to a physical point. In your case pins on a connector.
Pin 33 through pin 40 are your 8 outputs. Whichever numbers you want them to have. They do not need to be consecutive, but why wouldn't you want that? (I guess that some people just want to watch the world burn....)
Fourth, you only have 8 physical outputs on your connector, therefore it's better to not map any more than that.
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I managed to configure everything as I wanted. Thank you @gpunkt and @pdl. In fact, the @gpunkt has almost configured it right (or more... almost as I wanted )
DO101 output from the terminal is now assigned to DO[1] in the Fanuc system - and so on up to DO108DI101 input from the terminal is now assigned to the input of DI[1] in the system.
OUTPUTI connected PIN 32 (DOSRC1) to 24V and PIN 30 (0V) to GND... AND.... Everything worked well, so I also made the change to use a separate power source, just as you suggested.
I'm immensely grateful to you for sparing a few days of my life -
Nice to hear!
Great that you shared your experience for future reference!