ADDITIONAL INFORMATION

The addition of
FANUC Robot series R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

1.Type of applied technical documents

FANUC Robot series R-30iA/R-30iA Mate CONTROLLER

Name R-30iA Line Tracking OPERATORS MANUAL

Spec.No./Ed. B-82904EN/01

2.Summary of Change

New, Add,
Applicable
Group Name/Outline Correct,
Date
Delete

Basic

Optional The documents of CHANGE OF LINE TRACKING

Add Immediately
Function MANUAL is added.

Unit

Maintenance
Parts

Notice

Correction

Another

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 1/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 2.1 REQUIREMENTS
P.4
Table 2.1 Requirements
Required R-30iA Controller R-30iA Controller R-30iA Mate Comments
Components A-Cabinet B-Cabinet

Hardware

Line Tracking A20B-81010420 A20B-81010420 A20B-81010600 Separate Detector Unit

Interface Board (SDU) - A02B-0303-C205
(mini-wide) can be used in place of
Tracking Interface PCB
NOTE: SDU requires retrofit
work (see Fig. 2.1(f) through
Fig. 2.1(n) ). It requires an
enclosure to use with an
R-30iA Mate controller.

Fiber Optic A66L-60010023 A66L-60010023 A66L-60010026

(FSSB) Cable

Tracking Encoder A8600301T001 A8600301T001 A8600301T001 Encoder A860-0324-T101

(2000 can also be used with
pulses/revolution) R-30iA Controller.

Encoder Cable A05B-2501-J400 (7M) A05B-2502-J260 (7M) A05B-2550-J210

for (7M)
A860-0301-T001
A05B-2501-J401(14M) A05B-2502-J261 (14M) A05B-2550-J211
(requires one
(14M)
cable/encoder)
A05B-2501-J402(20M) A05B-2502-J262 (20M) A05B-2550-J212
(20M)

A05B-2501-J407(30M) NOTE: For Mate

Systems with two
encoders, use
A05B-2550-J213
(7M),
A05B-2550-J214
(14M),
A05B-2550-J215
(20M)

When using A05B-2501-J403 (7M) A05B-2502J263(7M)

multiple robots to
A05B-2501-J404(14M) A05B-2502J264(14M)
track parts on the
conveyor, use a A05B-2501-J405(20M) A05B-2502J265(20M)
Multiplexer to
Controller cable A05B-2501-J406(30M) A05B-2502J266(30M)

Encoder to A05B-2451K102(7M)
Multiplexer A05B-2451K103(14m)

5V Connector A02B-0061K203

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 2/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 Required R-30iA Controller R-30iA Controller R-30iA Mate Comments
Components A-Cabinet B-Cabinet

Hardware

Customer-supplied 5V DC power supply, rated power 15Watts

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 3/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 5.4 FINE TUNING HIGH SPEED ACCURACY
P.78

increase decrease

Fig. 5.4.1 Modifying $LNCFG_GRP.$io_delay

P.79
5. Repeat Steps 2 through 4 until the robot lines up with P[1].
NOTE
Although the variable $io_delay is part of $LNCFG_GRP[], it is only group based
when the ACCUTRIG instruction is used. When the ACCUTRIG instruction is
used, the $io_delay value will be taken from $LNCFG_GRP[g], where g is the
group number from the tracking schedule. If ACCUTRIG is not used, then
$LNCFG_GRP[1].$io_delay is the value that will be used.
Also, when the ACCUTRIG instruction is used, the amount of adjustment in
$LNCFG_GRP[g].$io_delay is limited to 1 ITP in the negative direction, and 5 ITP
in the positive direction, where ITP is the controller ITP time, and it is stored in the
read-only system variable $SCR.$ITP_TIME. Larger adjustments will not be
performed. If the ACCUTRIG instruction is not used, then there is no limitation on
$LNCFG_GRP[1].$io_delay.

Note
In line tracking static error can be tuned by $IO_DELAY, but in visual tracking to tune static error should
reteach position. Please refer to iRVision Visual Tracking START-UP GUIDANCE for the detail.

Static error of every encoder can be tuned by $ENC_IODEY[enum] instead of $LNCFG_GRP.$IO_DELAY

after V7.40P. Before tune static error, please do the followings first.
$ENC_IOD_ENB[enum] = TRUE
$ENC_IODELAY[enum] = 0
The tune method is the same with IO_DELAY.

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 4/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 P.79

increase decrease

Fig. 5.4.2 Modifying $LNCFG_GRP.$srvo_delay and $LNCFG_GRP.$soft_ delay

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 5/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 5.6 HIGH SPEED SCANNING
P.85

Procedure 5-3 Enabling High Speed Scanning

Conditions
The High Speed Scanning option has been loaded.
The System Trigger option has been loaded.
The Trigger INPUT Number in the tracking schedule is set to 1.
The part detect hardware is wired to HSDI#1. Please refer to MAINTENANCE MANUAL for
the detail.
Encoder #1 is set up as the tracking encoder.
Note
HSDI feature is supported on R-30iA controller but not supported on R-30iA mate controller.

Steps
1. Press MENUS.
2. Press NEXT.
3. Select SYSTEM.
4. Press F1, [TYPE].
5. Select Variables.
6. Move the cursor to the following variables and set their values accordingly,
$HSLTENBL = TRUE
$LNCFG.$HSDI_ENABLE = TRUE
7. Turn off the controller, and then turn it on again to accept the new setting.
Note
When HSDI is loaded, if normal DI as the trigger is used to teach a tracking program, please set
$LNCFG.$HSDI_ENABLE to FALSE. If it is not done, sometimes tracking program can not be edited.

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 6/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 5.8 LIMIT CHECKING
P.88

The following system variables are used to support this function:

$LNCFG_GRP[gnum].$LMT_CHK_ENB Enable/Disable function (default is FALSE)
$LNCFG_GRP[gnum].$LMT_CHK_UL Upper soft limit margin (default is 20deg)
$LNCFG_GRP[gnum].$LMT_CHK_LL Lower soft limit margin (default is 20deg)
For example, if the J6 axis stroke range is -360 to 360, and both $LMT_CHK_UL and $LMT_CHK_LL are
20[deg], when the expected next destination exceeds the range from -340 to 340, the robot will take another
direction.
Note
Limit checking is working only in the following cases.
Transition from tracking motion to tracking motion.
Transition from normal motion to tracking motion
And limit checking is not working in the following case.
Transition from tracking motion to normal motion
In above case, limit error can be avoided by adding Wrist Joint to the first motion line which is following the
last tracking motion.

In software versions V7.50P03 and later, the above limitation is gone by turning $LNCFG.$COMP_SW bit18
(262144) to TRUE.

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 7/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 A.3 TRACKING ACCURACY
P.91

A.3 TRACKING ACCURACY

Tracking accuracy is the maximum tracking error offset you can expect in an application. The tracking
accuracy is a function of synchronizing the part detect switch and the encoder-read/set-trigger operation.
The part might trip the part detect switch (trigger) at any time, and not be synchronized with the controller
interpolation cycle in any way. The controller will detect this within one ITP time. If ACCUTRIG is used, the
controller will detect this within one system tick (2 ms). Refer to Section 4.5 .
However, even under the best of conditions it might take up to one additional ITP time to read and store the value
of the encoder (to perform the set trigger operation). The value that is read is the value stored during the last
encoder data update.

P.92

When ACCUTRIG is used, the system tick would be recorded when the part detect switch is triggered. The
system then finds the encoder value at that system tick. Therefore, the formula is

0.8mm= 200mm/sec * 2 * 2ms

However, since the relative tracking position can be changed by adjusting the prediction times, the accuracy can
be expressed as 1 ms. The tracking accuracy can be computed using the following equation.

delete

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 8/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 P.95

Delete

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 9/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 P.96

Delete

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 10/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 P.97

Delete

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 11/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 P.98

Delete

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 12/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 P.99

Delete

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 13/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 ERROR CODE

LNTK-000 Unknown error (LN00)

Cause: System internal error
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC or FANUC Robotics if
problem persists.

LNTK-005 Illegal schedule number

Cause: An invalid Line Track schedule (track or frame) number was used within a program instruction
(eg. TRK[59]) or program header data (eg. FRAME = 59).
Remedy: Check all schedule numbers (TRK[] or FRAME usages) used within the specified program
to verify that they are within the allowable range specified for the $LNSCH[] system variable.

LNTK-006 Illegal tracking type

Cause: An invalid tracking type was specified within the tracking schedule (i.e. $LNSCH[]) associated
with the specified program.
Remedy: Check the value of $LNSCH[i].$TRK_TYPE (where 'i' is the FRAME number specified within
the DETAIL screen for the specified program) to make sure that it is one of the valid values listed
under the description for this system variable.

LNTK-007 Illegal encoder number

Cause: An invalid sensor(encoder) number was used within the specified tracking program instruction or
within the program's associated schedule $LNSCH[i].$TRK_ENC_NUM value (where 'i' is the
FRAME number used within the DETAIL screen for the specified program).
Remedy: Check the value of the specified program instruction's LINE[] parameter and the
program's associated schedule $LNSCH[i].$TRK_ENC_NUM value to make sure that it is
one of the valid values listed under the description for the $ENC_STAT[] system variable.

LNTK-008 Invalid nominal position

Cause: An invalid or uninitialized nominal tracking frame position was used within the tracking
schedule (i.e. $LNSCH[]) associated with the specified program.
Remedy: Check the value of $LNSCH[i].$TRK_FRAME (where 'i' is the FRAME number specified
within the DETAIL screen for the specified program) to make sure that it is a properly
initialized, valid position.

LNTK-009 Illegal position type

Cause: The position type or representation used within the specified program is not valid. (LINE
and CIRC tracking programs MUST store all positions in Cartesian representation. Joint
representation is not allowed.)
Remedy: Check the KAREL or TPE user manual for valid position types. Check the position
representation used to store the positions within the tracking program to make sure that
Cartesian representation is being used.

LNTK-010 Illegal encoder schedule num

Cause: An invalid sensor(encoder) schedule number was used within the specified tracking
program instruction's SCH[] parameter.
Remedy: Check the $LNSNRSCH[] system variable description for the range of valid sensor
schedule numbers.

LNTK-011 Illegal boundary set number

Cause: An illegal value was used within the specified tracking program instruction or within the

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 14/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 program's associated schedule $LNSCH[i].$SEL_BOUND value (where 'i' is the FRAME
number used within the DETAIL screen for the specified program).
Remedy: Check the value of the specified program instruction's BOUND[] parameter and the
program's associated schedule $LNSCH[i].$SEL_BOUND value to make sure that they are
one of the valid values listed under the description for this system variable.

LNTK-012 Invalid input position

Cause: An invalid or uninitialized position was used within the specified tracking program instruction.
Remedy: Check the position (or position register) value for the specified tracking program
instruction to make sure that it is a properly initialized, valid position.

LNTK-014 Encoder/sensor not enabled

Cause: The tracking sensor(encoder) associated with the specified program (specified by
$LNSCH[i].$TRK_ENC_NUM, where 'i' is the FRAME number used within the DETAIL
screen for the specified program) must be enabled to perform this program instruction.
Remedy: Use the LINE enable instruction to enable the proper tracking sensor(encoder).

LNTK-015 Invalid encoder trigger value

Cause: An invalid or uninitialized sensor(encoder) trigger value (specified by
$LNSCH[i].$TRIG_VALUE, where 'i' is the FRAME number used within the DETAIL screen for
he specified program) was found.
Remedy: Make sure that this value is properly set prior to either teaching path positions, or issuing
programmed robot motion instructions.

LNTK-018 Invalid teach distance

Cause: An invalid or uninitialized teach distance value (specified by $LNSCH[i].$TEACH_DIST,
where 'i' is the FRAME number used within the DETAIL screen for the specified program) was
found.
Remedy: Make sure that this value is properly set prior to either teaching path positions, or issuing
programmed robot motion instructions.

LNTK-019 Invalid scale factor

Cause: An invalid or uninitialized scale factor value (specified by $LNSCH[i].$SCALE, where 'i'
is the FRAME number used within the DETAIL screen for the specified program) was found.
Remedy: Make sure that this value is properly set prior to either teaching path positions, or issuing
programmed robot motion instructions. NOTE: This value may NOT be equal to 0.0

LNTK-020 Invalid extreme position

Cause: An invalid or uninitialized extreme position value (specified by $LNSCH[i].$TCP_EXTRM,
where 'i' is the FRAME number used within the DETAIL screen for the specified program) was
found.
Remedy: Make sure that this value is properly set prior to either teaching path positions, or issuing
programmed robot motion instructions. NOTE: A value of 1,000,000 (1.0e6) may be set to
disable TCP extreme position checking.

LNTK-021 Invalid track axis number

Cause: An invalid or uninitialized track axis number (specified by $LNSCH[i].$TRK_AXIS_NUM,
where 'i' is the FRAME number used within the DETAIL screen for the specified program) was
found.
Remedy: Make sure that this value is properly set to one of the valid values listed under the
description for this system variable.

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 15/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 LNTK-022 No tracking hardware
Cause: No tracking sensor hardware interface or improperly initialized system variables.
Remedy: Check tracking hardware setup and the values of $SCR.$ENC_TYPE and $SCR.$ENC_AXIS.

LNTK-023 Bad tracking hardware

Cause: Bad tracking sensor hardware interface.
Remedy: Check all sensor hardware, cables, and connections.

LNTK-024 Illegal encoder average

Cause: Illegal encoder average number.
Remedy: Use a valid encoder average number.

LNTK-025 Illegal encoder multiplier

Cause: Illegal encoder multiplier number.
Remedy: Use a valid encoder multiplier number.

LNTK-026 Encoder not enabled

Cause: Tracking encoder is not enabled.
Remedy: Enable the tracking encoder before reading its COUNT or RATE within the program.

LNTK-031 UFRAME must be zero

Cause: User frames cannot be used when tracking.
Remedy: Set $MNUFRAMENUM[] to zero.

LNTK-032 Conveyor resync failed

Cause: The conveyor was not resynchronized properly.
Remedy: Make sure the Tracking Schedule is properly initialized, the encoder is active, and all
hardware is functioning properly.

LNTK-036 Invalid tracking group

Cause: This group does not support tracking.
Remedy: Modify $LNCFG.$GROUP_MSK to enable this group for tracking. Cold start afterwards
Notify FANUC or FANUC Robotics if problem persists.

LNTK-037 Rotation diff exceeds limit

Cause: Run time part Rotation diff exceeds limit.
Remedy: Reteach the tracking uframe for this application.

LNTK-038 CIRCLE tracking not supported

Cause: CIRCLE tracking not supported.
Remedy: Can not use tracking uframe for circular tracking.

LNTK-039 Use track uframe is not YES

Cause: Use track uframe is not YES.
Remedy: Set $lnsch[].$use_trk_ufm is set to TRUE so that the instruction can function.

LNTK-041 Encoder is moved in T1 mode.

Cause: The 250 mm/s speed limitation of T1 mode cannot be guaranteed for tracking motion. Therefore,
robot motion is not allowed in T1 mode as long as the conveyor is moving.
Remedy: To execute tracking motion in T1 mode, make sure the conveyor is stopped. To execute
tracking motion with a moving conveyor, put the controller in T2 or AUTO mode.

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 16/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 LNTK-042 Skip outbound move LN:%d
Cause: The robot can not reach the destination before it gets out of the specified boundary. Skip
this motion to prevent pausing of program execution.
Remedy: Program at a faster speed or extend the boundary.

LNTK-043 Multiple group not supported

Cause: Tracking programs do not support multiple group motion.
Remedy: Change the program to a single group program.

LNTK-044 Invalid DOUT %d^3 in Sched %d^2

Cause: The Digital output specified in the indicated schedule is not a valid DOUT.
Remedy: Change the variable for Outbound DOUT to represent a valid, correctly mapped digital

output.
LNTK-045 Gp %d^2 near downstrm bound %d^3
Cause: The robot is approaching the downstream boundary that is currently in use.
Remedy: This is a warning to indicate that a Track Destination Gone error could be imminent. It
can be avoided by stopping the conveyor, changing the boundary or touching up the path
to improve cycle time.

LNTK-046 Cont_Turn permit key Not on

Cause: Continuous turn option is loaded without turn on permit key.
Remedy: Continuous turn group can not be line tracking group. System variable $scr.$update_map1 bit 0x400000 needs to turn
on.

LNTK-047 Limit Checking verification fail

Cause: Change Fee is needed to avoid limit error. However new fee verification fails. Typically it is
because boundary setting cause new fee delay tracking move that robot will go to un-reachable
position such as dead zone.
Remedy: Re-teach the position or adjust tracking boundary.

LNTK-048 Tracking environment mismatch

Cause: Try to run a tracking move in a none-tracking environment or try to run a none-tracking move in
a tracking environment.
Remedy: Abort the program. Then make the move.

LNTK-049 FEE Change to avoid limit LN:%d

Cause: System change robot last axis moving direction for this motion line to avoid limit error.
Remedy: This is a warning to indicate that system change robot last axis moving direction for this motion
line to avoid limit error.
LNTK-050 No Cont_Turn in tracking group
Cause: Line tracking group also is continuous turn group.
Remedy: Line tracking group can not support continuous turn in the same group.

LNTK-051 $LNCFG.$SLC_PT_TRIG not set

Cause: Use accuracy trig instruction without setting $lncfg.$slc_pt_trig.
Remedy: Set system variable $lncfg.$slc_pt_trig to true then cycle power.

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/1

01 10.12.12 K.Wang Initial release

Ed. Date Design Description Sheet 17/17
Date 10.12.12 Desig. K.Wang Check Apprv.
 The addition of
FANUC Robot series R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

1.Type of applied technical documents

FANUC Robot series R-30iA/R-30iA Mate CONTROLLER

Name R-30iA Line Tracking OPERATORS MANUAL

Spec.No./Ed. B-82904EN/01

2.Summary of Change

New, Add,
Applicable
Group Name/Outline Correct,
Date
Delete

Basic

Optional The documents of LIMITATION OF LINE

Add Immediately
Function TRACKING MANUAL is added.

Unit

Maintenance
Parts

Notice

Correction

Another

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/01-02

01 11.03.25 K.Wang Initial release

Ed. Date Design Description Sheet 1/2
Date 11.03.25 Desig. K.Wang Check Apprv.
 Add the following new subsection 2.2.3 (P.19).

2.2.3 Limitation
This function cannot be used together with the following functions:
- Coordinated Motion
- Space Check
- Remote TCP
- Auto Singularity Avoidance function
- Finishing Function Package
- Servogun Gun Change function
- Robot Link
- Interference Check
- Through-Arc Seam Tracking (TAST)
- Automatic Voltage Control Tracking (AVC)
- Root Pass Memorization and Multipass (RPM)
- Touch sensing

The addition of FANUC Robot series

Title R-30iA/R-30iA Mate CONTROLLER
R-30iA Line Tracking OPERATORS MANUAL

Draw
No. B-82904EN/01-02

01 11.03.25 K.Wang Initial release

Ed. Date Design Description Sheet 2/2
Date 11.03.25 Desig. K.Wang Check Apprv.