Posts by AlexanderJ

The Fanuc support found a solution for this issue

At first they found that same issue as I did: Most UOP-input signals like RSR1/PNS1/STYLE1, PNS2,...,PNS8, PROD_START, PNS_Strobe, can not be set from an interface that is mapped to the same Rack/Slot/Start. In my case, I want to control the UOP-input/UI signals through the r641 `robot interface` option, which is possible by mapping UOP-input/UI and Digital-input/DI to the Rack 0, Slot 0, Start 1 (aka memport). This bug was confirmed in Roboguide 8.3 Rev. M and version 9. This is really annoying, because it works on the actual robot controller (r30ib in my case).

There is a workaround.

Menu>I/O settings (rack, slot, start):

- `UI[1-18] 0 0 101` to control program flow, PNS etc.

- `DO[1-80] 0 0 1` to control UI signals through "Tools>External IO Connections"

- `UO[1-20] 0 0 201` to read state

- `DI[1-80] 0 0 201` to read state

In Roboguide "Tools>External IO Connections":

This way the DO control the UOP-inputs/UI.

I can confirm that this allows the r641 robot interface interface to control the fanuc robot in simulator.

Unfortunately, the I/O config can not be used on the actual robot, there, the DO and UI signals need to be mapped to the same range (starting at Rack 0, Slot 0, Start 1).

I am having the same issue, I mapped the UI to the DI signals and still I am unable to toggle PNS bits. Is there some way to achieve this?

I am using the r641 robot interface option.

I absolutely agree, if it's some undocumented but technically possible way exists, it wouldn't be very wise to implement it that way.

Considering the features that I listed in the OP, what options do I have to implement them?
Is the pcdk more comfortable to work with than the sole socket messaging option?

Hi everybody,
I spent days trying to figure out how to control our fanuc roboter but it is really tricky...

Manipulator: LR Mate 200iD/7L
Controller: R-30iB Mate
Options: ASCII program loader; profinet-interface
Software: RoboGuide, current version

I would like to know if it is possible to get the following features somehow to work:
a) start the execution of a TP-program from a PC; in step mode
b) if step-mode is possible: polling the information "robot busy" on the PC
c) if step-mode is possible: go to next step
d) receive error information on the PC
e) set UFRAME from the PC

The issue is that we don't have the PCDK, socket messaging nor PC interface option.

I already talked to the fanuc support and I was told there is another option to control the robot from the PC... tcp/ip packets in combination with a BGLogic program.

I tried my best to find any clues in that direction, on how to receive some kind of string in the BGlogic, but no luck.
We have a profinet-option but I guess we are not using it, I guess it is supposed to be an interface to some PLC, but the project changed requirements and now we only have a computer connected to the R30iB-mate through an ethernet-cable.

Is it possible to get that much control without a communication option?

Many thanks for any hint!