FANUC Setup Instructions

This section introduces the process of loading the robot master-control program onto a FANUC robot.

The process consists of the following steps:

Please have a flash drive ready at hand.

Check Controller and Software Compatibility

  • Controller: no requirement

  • Controller system software version: V7.5, V7.7, V8.*, and V9.*

  • Additional controller software packages:

    • R651 or R632 (karel) - used to enable karel function

    • R648 (User Socket Msg)

  • Mech-Mind Software Suite: latest version recommended

Set up the Network Connection

Hardware Connection

Plug the Ethernet cable of the IPC into the Ethernet port of robot controller as shown in the figure. You can plug the cable into either CD38A port or CD38B port. CD38A corresponds to Port#1 in the robot IP setting, while CD38B corresponds to Port#2.

../../../../_images/hardware_connection2.png

IP Configuration

  1. Press on MENU‣ SETUP, select Host Comm in the context menu, and then press ENTER to open the SETUP Protocols window.

    ../../../../_images/ip_setup.png

  2. Select TCP/IP and press on DETAIL to open the SETUP Host Comm window.

    ../../../../_images/tcpip.png

  3. Enter the robot IP in the IP address line with the keyboard of the teach pendant. The robot IP should be in the same subnet as the IPC.

    ../../../../_images/set_ip_p1.png
    ../../../../_images/keyboard.png

  4. If the Ethernet cable is connected to port 2, please press Port to switch the port. Then you can enter the robot IP in the IP address line.

    ../../../../_images/set_ip_p2.png

Load the Program Files

Backup

  1. Connect the flash drive to the robot controller or the teach pendant.

  2. Press on the MENU button, and select FILE ‣ File on the screen, and then press on ENTER to open the FILE window.

    ../../../../_images/enter_file_path.png

  3. Select UTIL ‣ Set Device, and press on ENTER to open the USB folder.

    ../../../../_images/select_device.png

  4. If your flash drive is connected to the controller, please select USB Disk (UD1:); if your USB flash drive is connected to the teach pendant, please select USB on TP (UT1:).

    ../../../../_images/enter_usb_file.png

  5. In the USB FILE window, select UTIL ‣ Make DIR to create a new folder.

    ../../../../_images/build_file_1.png

  6. Select Words, Upper Case, Lower Case, or Options/Keybd to name the folder, and then press on ENTER to confirm and enter the new folder.

    ../../../../_images/build_file_2.png
    ../../../../_images/build_file_3.png

    Hint

    • In this example, Upper Case is selected, and the folder name is AOA.

  7. Select BACKUP ‣ All of above ‣ ENTER to backup the files.

    ../../../../_images/rebase_file_1.png

  8. A message asking whether to delete the new folder before backup files will display on the screen. Select Yes.

    ../../../../_images/rebase_file_2.png

  9. Then a message asking whether to delete the new folder and backup all files will display on the screen. Select Yes to start backuping.

    ../../../../_images/rebase_file_3.png

  10. After the backup is complete, select all files and press on ENTER to view all backuped files.

    ../../../../_images/check_file_1.png
    ../../../../_images/check_file_2.png

Prepare the Files

The program file is stored in the installation directory of Mech-Mind Software Suite.

Navigate to xxx\Mech-Mind Software Suite-x.x.x\Mech-Center\Robot_Server\Robot_FullControl\fanuc, and copy all the contents of this folder to your flash drive:

Note

  • Please save all the contents in the root directory of the USB flash drive. Do not rename them.

  • Please copy all the contents in the folder instead of copying the whole folder directly.

Load the Files to the Robot

  1. After connecting the USB flash drive, press MENU and select FILE ‣ File, and then press ENTER to open the FILE window.

    ../../../../_images/select_file.png

  2. Press UTIL and select Set Device in the context menu.

    ../../../../_images/set_device.png

  3. Select the USB flash drive. If your flash drive is connected to the controller, please select USB Disk (UD1:); if your USB flash drive is connected to the teach pendant, please select USB on TP (UT1:).

    ../../../../_images/all_files_usb.png

  4. Select the first line (all files) and press ENTER to enter the root directory of the USB flash drive.

    ../../../../_images/all_files.png

Hint

For the next step:

  • If the USB flash drive is connected to the robot controller, please select INSTALL_UD.cm.

  • If the USB flash drive is connected to the robot teach pendant, please select INSTALL_UT.cm.

  1. Select the corresponding CM file and press ENTER key on the teach pendant. Choose YES to start loading the programs.

    ../../../../_images/install_ut.png

  2. When the following screen is displayed, the loading and relevant configuration are completed. Press F4 to exit the program.

    ../../../../_images/loaded_successfully.png

    Attention

    Please restart the robot after exiting the program.

Run the Program

  1. Press SELECT key on the teach pendant to open the program selection window, and then select TYPE‣ TP Programs, as shown below.

    ../../../../_images/tp_programs.png

  2. Select MM_RUN and press ENTER to open the program.

    ../../../../_images/mm_run.png

  3. Turn the key switch on the controller to AUTO.

    ../../../../_images/mm_run_1.png

  4. Turn the switch on the teach pendant to OFF.

    ../../../../_images/mm_run_2.png

  5. Press the CYCLE START button on the controller to run the program automatically.

    ../../../../_images/mm_run_3.png

  6. If the following screen is displayed, you can proceed to the next section.

    ../../../../_images/waiting_for_connect.png

Test Robot Connection

Configure Robot in Mech-Viz

  1. Open Mech-Viz, click New project to create a new project.

  2. Select the robot model in use in the next page.

  3. Save the project by pressing Ctrl + S.

  4. In the toolbar, change the Vel. (velocity) and Acc. (acceleration) parameters to 5%.

  5. Right-click the project name in Resources and select Autoload Project.

Configure Settings in Mech-Center

  1. Open Mech-Center and click on Deployment Settings.

  2. Go to Robot Server, and make sure Use robot server is checked.

  3. Check if the robot model displayed next to Robot type in Mech-Viz project matches the one in use.

  4. Set the Robot IP address, and click Save.

Connect to Robot in Mech-Center

  1. Click Connect Robot on the toolbar.

  2. The robot is successfully connected if:

    • A message saying Robot: server connected to the robot shows up in the Log panel, and

    • A robot icon with the robot model shows up in the Service Status panel.

Move the Robot

  1. In Mech-Viz, click Sync Robot on the toolbar to synchronize the pose of the real robot to the simulated robot. Then, click Sync Robot again to disable the synchronization.

  2. Click the Robot tab in the lower right, and change the joint position of J1 slightly (for example, from 0° to 3°). The simulated robot will move accordingly.

  3. Click Move real robot, the real robot should move accordingly.

Attention

When moving the robot, please pay attention to safety hazards. In the case of an emergency, press the emergency stop button on the teach pendant!