How to program a Fanuc robot

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Introduction
Basic Teach Pendant Programming
Motion Commands
Registers and Position Registers
Logic and Control Structures
I/O and Signal Handling
Palletizing Example
Pick and Place Example
Error Handling and Debugging
Advanced Functions and Tips
Best Practices

1. Introduction

Fanuc robots are programmed using the Teach Pendant and TP (Teach Pendant) language. This manual provides step-by-step examples to program a Fanuc robot for various industrial applications. The examples cover basic motion, palletizing, pick-and-place, logic structures, error handling, and advanced functions.

2. Basic Teach Pendant Programming

Creating a New Program

Press [SELECT] to open the program list.
Press [F1] (TYPE) → [CREATE].
Enter a name (e.g., PALLET) and press Enter.
Start adding motion and logic commands.

Jogging the Robot

Set the pendant to Teach Mode (T1).
Hold [SHIFT] and use the jog keys to move the robot.
Adjust the coordinate system using [COORD] to switch between Joint, World, Tool, and User frames.

Recording a Position

Move the robot to the desired position.
Press [SHIFT] + [F5] (Touch Up) to save the position.
The saved positions can be used in motion commands.

3. Motion Commands

Joint Move (J)

J P[1] 100% FINE

Moves the robot in joint mode (fast but less precise).

Linear Move (L)

L P[2] 500mm/sec CNT50

Moves the robot in a straight line.
CNT50 allows continuous motion with 50% blending.

Circular Move (C)

C P[3] P[4] 300mm/sec CNT50

Moves in a circular path between P[3] and P[4].

Override Speed

OVERRIDE 50%

Adjusts movement speed dynamically.

4. Registers and Position Registers

Registers [R]

Registers (R) store numerical values for calculations, loops, and conditions.

Example: Using Registers for Counting

R[1] = 0  ; Initialize counter
LBL[1]
R[1] = R[1] + 1  ; Increment counter
IF R[1] < 10, JMP LBL[1]  ; Loop until R[1] reaches 10

Position Registers [PR]

Position Registers (PR) store coordinates that can be modified during runtime.

Example: Dynamic Positioning with PR

PR[1] = P[1]  ; Copy P[1] to PR[1]
PR[1,1] = PR[1,1] + 100  ; Shift X position by 100mm
L PR[1] 500mm/sec FINE  ; Move to the new position

5. Logic and Control Structures

Conditional Execution

IF DI[5]=ON THEN JMP LBL[1]

Jumps to label LBL[1] if digital input DI[5] is active.

Loops

LBL[1]
R[1] = R[1] + 1
IF R[1] < 10, JMP LBL[1]

Repeats 10 times.

6. I/O and Signal Handling

Wait for Input

WAIT DI[3]=ON

Pauses execution until digital input DI[3] is ON.

Set Output Signal

DO[2]=ON

Turns on digital output DO[2] (e.g., activating a gripper).

7. Palletizing Example

J P[10] 100% FINE  ; Move to home
LBL[1]
L P[2] 500mm/sec FINE ; Move to pick location
DO[1]=ON  ; Activate gripper
WAIT 0.5 sec
L P[3] 500mm/sec CNT50  ; Move to pallet position
DO[1]=OFF ; Release box
WAIT 0.5 sec
R[1]=R[1]+1
IF R[1]<12, JMP LBL[1]  ; Repeat until 12 boxes placed
END

8. Pick and Place Example

J P[10] 100% FINE  ; Home position
LBL[1]
L P[5] 300mm/sec FINE  ; Move to pickup
DO[1]=ON  ; Grasp object
WAIT 0.5 sec
L P[6] 300mm/sec FINE  ; Move to destination
DO[1]=OFF  ; Release object
WAIT 0.5 sec
J P[10] 100% CNT50  ; Return to home
JMP LBL[1]  ; Repeat process

9. Error Handling and Debugging

Error Handling Example

LBL[100]
IF DI[7]=OFF THEN JMP LBL[101]  ; Check for part presence
DO[4]=ON  ; Signal error condition
WAIT 1.0 sec
DO[4]=OFF
JMP LBL[100]
LBL[101]

10. Advanced Functions and Tips

Using Macros

CALL MACRO1  ; Calls a predefined macro for repetitive tasks

Using Timers

TIMER[1]=0  ; Reset timer
WAIT TIMER[1] > 5.0  ; Wait for 5 seconds

11. Best Practices

Use CNT blending to smooth transitions between points.
Use Position Registers (PR) for dynamic locations.
Backup programs before making modifications.
Optimize motion paths to reduce cycle time.
Label important code sections for better readability.

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