Robots & Automation – MFET 585
Robots & CNC in Integrated
Manufacturing – MFET 685
Agenda
• Program Editing
• Robot Programming
2
Fanuc TP Program Editing
In edit mode, notice the “>”
button – indicates additional
softkey options
Click NEXT
Fanuc TP Program Editing
INST – insert additional
instructions (not motion
control instructions)
EDCMD – program editor
Fanuc TP Program Editing
Standard set of editing
functions
Fanuc TP Program Editing
INSERT
Use arrow keys to go to
desired line
EDCMD>INSERT
Select how many lines to insert
Fanuc TP Program Editing
Hit ENTER
Lines are added before the line
selected
Fanuc TP Program Editing
Hit ENTER
Lines are added before the line
selected
Fanuc TP Program Editing
DELETE
Use arrow keys to go to
desired line
EDCMD>DELETE
Fanuc TP Program Editing
Use down arrow keys to select
range of lines to delete
Select YES to delete all selected
lines
Fanuc TP Program Editing
COPY
EDCMD>COPY
Highlight first line
Fanuc TP Program Editing
COPY
Highlight additional lines
COPY
Highlight destination line
Or [End]
Fanuc TP Program Editing
PASTE
Several options appear
Fanuc TP Program Editing
LOGIC
Inserts lines exactly as copied
Empty positions
Fanuc TP Program Editing
POS-ID
Adds lines exactly as copied
Same positions with same ID’s
Fanuc TP Program Editing
POSITION
Adds lines exactly as copied
Same positions with new ID’s
Position 5 is same as position 1
Position 6 is same as position 2
Position 7 is same as position 3
Position 8 is same as position 4
Fanuc TP Program Editing
R-LOGIC
Adds lines exactly as copied but
in reverse order
Empty positions
Fanuc TP Program Editing
R-LOGIC
Copies lines in reverse order
Leaves positions empty
Fanuc TP Program Editing
R-POS-ID
Copies lines in reverse order
Keeps same position data and
position ID’s
Fanuc TP Program Editing
ID R-POS
Copies lines in reverse order
Keeps same position data but
renumbers copied positions
Position 8 is same as position 4
Fanuc TP Program Editing
RM-POS-ID
Copies lines in reverse order
except for motion instructions
Keeps same position IDs and
position information
Attempts to retrace path in
reverse, reorganizes motions
instructions by segment
Fanuc TP Program Editing
RM-POS
Copies lines in reverse order
except for motion instructions
Creates NEW position IDs but
retains position information
P[8] same as P[4]
Attempts to retrace path in
reverse, reorganizes motions
instructions by segment
Fanuc TP Program Editing
Find – locate some kind of
operation/index after selected
line
Replace – find and replace
operations/indexes after
selected line
Renumber – renumbers all
positions sequentially without
altering data
Fanuc TP Program Editing
Comment – toggles comments
on/off
UNDO – undoes last editing
operation – only ONE level
UNDO an UNDO is a RE-DO
Fanuc TP Programming
Non motion control instructions
are accessed through the INST
softkey
If it does not appear use PREV /
NEXT to bring it up, motion
controls are shown by default
Fanuc TP Programming
Fanuc TP Programming
Allows creation of arithmetic
operations involving registers
R[3] = R[3]+1
You can mix + and – in a line
You can mix * and / in a line
You cannot mix multiplication
and division operations in a line
with addition/subtraction
Maximum 5 operators in a single
line
Fanuc TP Programming
Direct vs Indirect Registers
DIRECT INDIRECT
R[3] = 8 R[R[3]]=13
R[8]=13
Up to 200 direct registers
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
I/O instructions allow you to
manipulate real world inputs/outputs
DO – used to control solenoids,
relays, motors, etc
DI – used to read status of sensors
AO – used to set analog parameters
like weld current, motor speed
AI – used to read an analog sensor,
like temperature
RO/RI – one of the 8 DO’s on the
robot end effector
Fanuc TP Programming
IF statement – allows flow control
and decision making
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
SELECT statement – allows
flow control and decision
making
More sophisticated than IF
statement which is only
true/false
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
WAIT statement – allows delays
to be introduced until a
condition is met
Fanuc TP Programming
Fanuc TP Programming
JMP statement – unconditional
branch to another line
LBL – create a label
Fanuc TP Programming
CALL statement – execute
another program (brings up
menu so you can select another
program in robot memory)
END – stop execution here
Fanuc TP Programming
OFFSET / FRAMES
Statements that allow you to
specifically define which frames
a program will use
Also possible to alter a user or
tool frame directly using a
position register
Fanuc TP Programming
Macros
Any macros you have purchased
shows up in this set of menus
7 PALLETIZING
Is common in handling pro
tools
