Posts by dofrey

    Hi guys

    My robot should go trough 3 points, rotating only around one axis. A start point, an end point and an intermediate point. The speed should be continous during these points, this is why I use CNT100. Now I want to trigger an RO exactly when the intermediate point is reached. My suggestion where the RO has to go on at 45°:

    1: J P[1] 10% FINE; # axis at 0°
    2: J P[2] 10% CNT100; # axis at 45°
    3: RO[1]=ON;
    4: J P[3] 10% FINE; # axis at 90°

    Now if I do this, the RO triggers already at P[1]. How do I make it, that the trigger happens exactly at the position of P[2]?

    Hi guys

    I need some air supply on the gripper of a LR Mate 200iC. The ports 1A and 1B are already equiped with a magnet valve by the integrator. The source of this air is connected at the bottom of the robot to Air2.

    Now additional to these actuated ports I would also like to just have a constant air supply. I connected my air supply on the Air1 port on the bottom of the robot and found out, that exactly this pressure comes out on the port Air1 on the arm. Thats all perfect :face_with_tongue:

    My problem is, I did this all just by trying it out and it worked out. I would like to have a more detailed view inside the robot on how the tubes are connected. I could not find any insturctions in the manual.

    Could anyone confirm that I plugged everything correctly and also if there is a maximum pressure that I can feed trough these ports?



    Yes that's totally true. Usually I just forget to deactivate it and realize it the earliest when I'm already outside of the security door :stupid:

    The auto mode should normally also run when step is activated. But it will run just one single line of code and then pause again. I think that if you rerun the auto mode that the next line is run (like the FWD command).

    Thanks a lot Robo_Eng_13. This is an important fact that CNT has to do with the reduction of the speed.
    As I am programming my own robot controller and path interpolator for a different robot I wanted to know how Fanuc solves the problem. So you can imagine I already am neck deep into maths :winking_face:

    I found a paper suggesting to solve the smoothing of direction changes depending on time. So the higher the smoothing value the less a single axis is on its linear path. Actually it is similar to maintaining a percentage of the speed but differently defined. (I hope you can see the paper without an account)

    Do you know that what you told happens in the controllers of Fanuc or is it more a guess from observations?

    Hi guys,
    I would like to know how the CNT function exactly works. What happens when I do CNT 100 or CNT 50 mathematically? Is there a mathematical definition for it?

    If I have two paths with different length (see attachment), one from A to B to C and the other from D to E to F and I put to both the same speed and the same CNT. Will the relation of the paths be significant for the curvature or does the "radius" stay the same?

    Thanks a lot for your help!

    Hi Ahmed

    Just press the STEP button on your TP keyboard. It should change the yellow STEP status to green.

    Step can be used to go slowly and controlled to your robot program for testing. If you are in STEP mode (yellow) you can press SHIFT+FWD and the program will execute one line of code and stops again. This can be quite useful sometimes!

    In my opinion a really cool idea, but pretty expensive and time consuming for just a dog house :winking_face:

    I found this topic that could maybe lead you little bit to the right direction and help with the decision to even start the project:…xtrusion-head-with-robot/

    As the first answer to the linked topic says it could be a really wide and complicated project where you need a lot of new programming and hacking of different parts, I would suggest you checking out ROS ( As its all open source and running different languages it could maybe simplify your software package. There is a Fanuc driver for ROS ( and I also found this tool for generating the paths:…os-additive-manufacturing

    And here the video about it:

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    Be aware that these tools are in experimental status. Depending on your knowledge and how important it is that the project will be something productive, you should take this into account.

    Let us know about the progress of your project.

    The robots are connected as slaves to the PLC with Profibus. But I do not have access to the PLC and so i guess I can not send data trough this communication method.
    I recently connected all the robots with Ethernet to access them remotely. So the connection over Ethernet would be there, but the Ethernet//IP communication is not installed on the robots. So I can not use this either.

    Do you use I/O Link to connect to the PLC or what is the normal useage of I/O Link? What exactly is Model A and Model B I/O?

    I'm new to this field, sorry for so many basic questions.


    I got an I/O Link between two robots already hooked up but I need to somehow set up the connection. On both robots I can see that there is a Type A connection when I go to [I/O] and then to [I/O Link] (see attachment). There I can not make any settings.

    I see that it is on Rack 1 and in Slot 0.

    So I guessed by myself that I just needed to assign now the Digital Outputs to the right Rack and Slot and it should work, but unfortunately it is not. I got a list with all rack assignments (also see attachment). There I see The Model A I/O Link should be assigned to Rack 0 and not 1 like mine. But I can not find a menu or a manual in how to change this.

    I also tried to just assign the DO to the Rack 1 and Slot 0. Also this without any success.

    Can anyone give me a hint how i make the settings?


    One question $MISC[1].$HPD_TRQ[3]>R[1:Torque AX 3] ?
    what means : $MISC[1] and $HPD_TRQ[3]

    and what kind of value must be there? R[1:Torque AX 3]

    Sorry for my late answer. I did not have notification turned on for this post.

    So basically what you read out of $MISC[1].$HPD_TRQ[3] is the torque of axis 3. This value you compare then to a maximum allowed value. I set R[1:Torque AX3] as 10.5
    I chose axis 3 because in this axis i have the highest torque in my application when an attempt fails.

    I do not know how precise the torque measurement is. I guess it measures the motor current and estimates the torque. But don't assume you can build a collaborative robot with this procedure :icon_wink:

    I had the case that sometimes the robot fell into a collision error when it should try again instead. To avoid this I set the collision guard to a really low level. Be careful with this option. The robot can damage things and not detecting a collision:

    1:  COL DETECT OFF ;
      2:  COL GUARD ADJUST 50 ;
      3:  COL DETECT ON ;

    I got the same problem with two of my Fanuc M-10. They are connected by a I/O Link cable but I can not get it to work that they are communicating with each other.

    What are the exact steps to connect for DI/DO of the two robots?

      • In the menu you described there is the Device: Model A, Rack 1 and Slot 0 (This is wrong according to your last post, right?)

      • If I press F3: Detail it shows: There is no detail data for this device

      • There is the button CLR_ASG, but I am afraid to press it and delete something

    Could you help me with my setup?

    Hi FrankMV

    To change the toolframe, you use the UTOOL_NUM command. You can use it before the command to execute a motion with this toolframe and you can change the tool number wherever you want inside your code.

    1: UTOOL_NUM = 1  ;


    I got an I/O Link between two robots already hooked up but I need to somehow set up the connection. On both robots I can see that there is a Type A connection on both robots when I go to [I/O] and then to [I/O Link]. There I can not make any settings. I see that it is on Rack 0 and in Slot 1. So I guessed by myself that I just needed to assign now the Digital Outputs to the right Rack and Slot and it should work, but unfortunately it is not.
    Can anyone give me a hint how i make the settings?


    Thank you scotty!

    This is a good approach for my project. As I guess directly form Karel to the Database is not really possible, this is the only solution. Could you help me with some tips:

      • What exactly is a SCRAPPER? I imagine a program (Python/C++?, running on what?) that checks for an updated file and scans it for new data to save it then to FTP.
      • How do you see the connections between the DATA_FILE and the SCRAPPER? Would this be downloading and analyzing the file via FTP? Or are there other ways?

      • Is there already a SCRAPPER for this purpose that you maybe already used?

    At my place it is more worth it to get it from Fanuc because if someone else has to order it trough Fanuc they pay the same at Fanuc and will add you something to your price.

    I would like to have a karel program running on my fanuc robot which is counting statistics about the production. This numbers should be accessible over a MySQL database, from there I can visualize it then easily. Is there a tutorial or an approach how to do something like this? Is it even possible?

    Thanks for your ideas!

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