FANUC robot if statement help

    I'm trying to learn fanuc robot programming. I made a program using four if statements but imtrying to make the program using only three if statements

    R[1]=0

    LBL[1]

    L PR[1] 200mm/s FINE

    IF R[1]=0 or R[1]=2 then

    PR[1,2]=PR[1,2]+50

    R[1]=R[1]+1

    JMP LBL[1]

    ENDIF

    IF R[1]=1 or R[1]=3 then

    Pr[1,3]=pr[1,3]-50

    R1=r1+1

    Jmp lbl1

    Endif

    If r1=4 or r1=6 then

    Pr[1,2]=pr[1,2]-50

    R1=r1+1

    Jmp lbl1

    Endif

    If r1=5 or r1=7 then

    Pr[1,3]=pr[1,3]+50

    R1=r1+1

    Jmp lbl1

    Endif


    This is the code i wrote im trying to make the same thing only using 3 if statements. Can you guys please help me with this.

  • SkyeFire August 7, 2024 at 4:06 PM

    Approved the thread.

    Yes i can easily do that but im in an internship in a robotics company now. And im learning fanuc robot from scratch. The engineer there gave me this exercise to make the robot move like a stair and go back to home position the same way with 4 IF statements. After i've done that now he wants me to make the same motion with only 3 IF statements. No nested IF statements no FOR, ELSE.

    Easy, but I think the engineer want you to solve the task, not the forum. :winking_face:

    It's not a question of programming fanuc robots, it's a question of logic and the ability to think in processes. You already have everything programmed, there's no "magic" command that makes one if statement obsolete.

    Quote from hermann

    Easy, but I think the engineer want you to solve the task, not the forum. :winking_face:

    It's not a question of programming fanuc robots, it's a question of logic and the ability to think in processes. You already have everything programmed, there's no "magic" command that makes one if statement obsolete.

    I actually was able to do it here is the code i wrote

    R[1]=0
    R[2]=50
    R[3]=0

    LBL[1]

    L PR[1] 200mm/s FINE

    IF R[1]=0 or R[1]=2 or R[3]= 7 then

    PR[1,2]=PR[1,2]+R[2]

    R[1]=R[1]+1
    R[3]=R[3]+1

    JMP LBL[1]

    ENDIF

    Lbl2

    IF R[1]=1 or R[1]=3 then

    Pr[1,3]=pr[1,3]-R[2]

    R1=r1+1
    R3=r3+1

    Jmp lbl1

    Endif

    If r1=4 and r3<7 than

    R2=(-50)

    R1=1

    Jmp lbl 2
    Endif

    Good job solving the riddle. I would emphasize that that "assignment" was just a way to get you to think and understand logical commands. For that purpose, it's fine, but not an ideal way to program a real project.


    If you really needed to do that then simply using 7 motion statements is much cleaner and wouldn't give a headache to anyone that has to look at it. If you had a repeating pattern that would require many stair steps, I would use a for loop. A for loop would be much cleaner than a bunch of jmp labels and if statements.


    Excessive use of jmp lbls is a sign of a poorly written program.

    It's a good practise to formulate the task in plain language, before writing code.
    In this case, it is:
    If R1 is even, modify Y
    If R1 is odd, modify Z
    Starting from R1=4, the direction of the modifications changes.

    Which may be done as:
    R1=0
    R2=1
    LBL[1]
    L PR[1] 200mm/s FINE
    IF R1>4 THEN R2=-1
    ENDIF
    IF (R1 MOD 2)=0 THEN PR[1,2]=PR[1,2]+50*R2
    ENDIF
    IF (R1 MOD 2)=1 THEN PR[1,3]=PR[1,3]-50*R2
    ENDIF
    R1=R1+1
    IF R1<=7 JMP LBL[1]

    Note the condition of the last JMP.
    Unconditional jump will cause unnecessary moves after R=7.

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