Output Achieved positions

  • I am trying to compare motion achieved by fanuc's stream motion (J519) package to the same motion utilizing a teach pendant program. When I am running utilizing stream motion, I can easily check the position at a given time and record, so that after motion is done, I can check the reported achieved path. However, I am unsure if the same can be done with a teach pendant program.


    This seems relatively simple, but I have yet to see anything about this in any of the fanuc programming manuals or training manuals that we have. Is there a way to record actual position throughout a LS program (either at a fixed time interval, or at a desired point) and then be able to dump this file to grab it via USB?

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  • But when you enable stream motion on the pendant program (IBGN Start), it waits for external inputs to command motion. I need to be able to command the motion from the pendant.

  • According to my co-worker (and confirmed in the documentation) streammotion requires you to send an update packet every time you listen for a packet.


    Have you done this before? I've tried just opening up the socket and sending the start packet and then waiting to receive data, but I am not able to get any data back.

  • Yes, I have done this myself.


    What you describe is only the case when you command motion.


    Starting state output is not tied to commanding motion, unless Fanuc has changed the option recently.


    Don't start any TP program, don't execute any ibgn start instructions. Just send the data start packet and the controller should start sending you data. You must have your computer listening for UDP packets on the port you used to send the data start packet.


    Of course if you have the option, you can also use high speed position output for this.

  • Can i ask , how fast the robot is during streamotion ?
    I am currently using the fanuc's stream motion (J519) and can only send increments of 0.0005 degrees for each joint every command (8ms). it is very slow.

  • I'm sending cartesian positions. I've been sending anywhere from 1mm/s up to around 200 mm/s. If I haven't generated a smooth enough trajectory, I do get jerk faults, but I am able to achieve faster motion.

  • I'm sending cartesian positions. I've been sending anywhere from 1mm/s up to around 200 mm/s. If I haven't generated a smooth enough trajectory, I do get jerk faults, but I am able to achieve faster motion.

    Hello I am using J519 function, now I can use "IBGN start" command in TP program to start a motion, but how to end it? Every time i sended the stop message, the robot program still stops at "IBGN start"

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