support with external mode selector fanuc robot

Can you purchase a new key?

Quote from alfrdob

Hello, I am new to Fanuc and recently purchased an R-30ib plus controller that does not have a key to change mode. I installed a software provided by them for licenses and libraries, and within them there is one called "external mode selector" that I imagine is the one I have to use to change the robot mode Auto / t1 / t2, and I think it is configured with SSO [6] and SSO [7] in the DCS, but my question is how do I activate the SSI to send the mode change, is it through an external signal through a PLC or do I have to wire a button panel, and if so, how would it be done, thank you very much for reading!!

You can do either.

With Ethernet/IP CIP safety, Ethercat, or ProfiSafe, and a safety PLC, you can set and read Safe IO over Ethernet. Otherwise, you can purchase Safety I/O expansion boards or Safety Model A I/O cards, hardwire a dual-channel keyswitch or button.

I would probably start with the DCS operator's manual B-83184EN_13_02 for more info.

A key (pun intended ) point is if it's only the key itself thats missing, or the entire key-switch (mode selector)...

If it's only the actual key, get a new one (they're cheap).

If it's without the mode selector, then the robot should have the necessary software to accomodate the switching of operation modes. As suggested by Erik Olsen , check the DCS-manual for reference.

I don't know what kind of robot you have, but with some models (scara, LR Mate and probably CRX) it is possible to switch AUTO/T1/T2 via I-Pendant.
In DCS open the MODE SELECT menu

and then you are switched to the mode select option on TEACH PENDANT

Quote from svr

I don't know what kind of robot you have, but with some models (scara, LR Mate and probably CRX) it is possible to switch AUTO/T1/T2 via I-Pendant.
In DCS open the MODE SELECT menu

and then you are switched to the mode select option on TEACH PENDANT

That is correct. However, the option you are talking about is "TP mode select". alfrdob has the "External mode select" option. With External mode select safe input signals (e.g. from a F-PLC) are required to switch the mode.

There is a "hacky" workaround with NSIs but I would only recommend this while commissioning, e.g. when the safety signals are not yet available.

Quote from DS186

That is correct. However, the option you are talking about is "TP mode select". alfrdob has the "External mode select" option. With External mode select safe input signals (e.g. from a F-PLC) are required to switch the mode.

There is a "hacky" workaround with NSIs but I would only recommend this while commissioning, e.g. when the safety signals are not yet available.

Hello,

Can you please share the "hacky" workaround, I stuggle everytime during the first tests and commisionning

Thank you very much

Quote from MoEL

Hello,

Can you please share the "hacky" workaround, I stuggle everytime during the first tests and commisionning

Thank you very much

When using "External Mode Select", the operating mode is selected depending on the state of two Safe System Outputs:

You can create simple logic in Safe I/O Connect where you manipulate the SSO[6] and SSO[5] with two NSI-signals:

These NSIs are mapped to two DOs (Rack 36, Slot 0)

Then either manually turn these DOs on/off or write a neat program that does it for you.