25.2
Connect physical robot
FANUC

Connect Fanuc to Wandelbots NOVA

⚠️ caution

Danger in case of insufficient qualification of users
People can be injured if unqualified user groups set up the physical robot environment.

  • Only qualified user groups designated by the operating company may set up the physical robot environment.
  • Keep unqualified user groups away from the area of risk.

Remember to read through the provided safety instructions. If you have remaining questions, contact Wandelbots GmbH Customer Support.

Supported models

The setup instructions are valid only for the following controllers and robots:

R30iBPlus controller

Industrial

  • ArcMate 100iD
  • ArcMate 120iD
  • ArcMate 120iD/35
  • M-10iD/12
  • M-20iD/25
  • M-20iD/35
  • LR Mate 200iD/4s
  • LR Mate 200iD
  • LR Mate 200iD7L
  • R-2000iC/125L

Cobots

  • CR-35iB
  • CRX-10iA/L
  • CRX-10iA
  • CRX-20iA/L
  • CRX-25iA
  • CR7iA
  • CR7iA/L
Industrial setup instructionsCobot setup instructions

Industrial - Setup instructions

Wandelbots NOVA only supports FANUC controllers with software version 9.30P/24 or 9.40P/28 or higher.

Prepare the FANUC
Admin

Using the original robot control panel

Set operating mode

  1. Set the robot controller's key switch to operating mode Automatic.

    Wandelbots NOVA only supports Automatic mode. Manual mode is not supported.

  2. Press RESET button to reset eventual errors on the robot controller.

Configure option packages

  1. Press the MENU button.

  2. Select 0/NEXT, then STATUS.

  3. Select Version ID, then > (NEXT).

  4. Press the F3 button and select ORDER FI.
    All available packages are displayed.

  5. Ensure that the following option packages are present in the folder:

    Order numbers can change based on your country and robot model.

    Order numberFunction
    1A05B-2600-R651 - FRL parametersDefault packages
    1A05B-2600-R912 - Remote MotionRobot movement

    If one of the packages is missing, contact the FANUC customer support and request a FANUC image. This process can take a couple of days.

Configure network settings

  1. Press MENU button.

  2. Select SETUP > 0-NEXT > 0-Next > Host Comm.
    Depending on the amount of installed option packages, Host Comm is also displayed in other screens.

  3. Select "TCP/IP".

  4. Insert the following values.

    FieldValue
    Port#1 IP address192.168.125.2 This IP address has to be within the same subnet as the IPC's IP address but can otherwise be set as desired.
    Subnet mask255.255.255.0

Configure variables

RMI
  1. Press MENU button.
  2. Select SYSTEM, then VARIABLES.
  3. Two files, RMI_CFG and RMI_EXEC are displayed. If those files are not displayed, contact Fanuc customer support to enable RMI.
UOP settings
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select Config, then
  4. Set 7(Enable UI Signal) to false.
  5. Set 42(Remote/Local Setup) to Local.
Error values
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select VARIABLES, then
  4. Set EMGDI_STAT to 32 or 0.
  5. Set ERSERVERITY to 0.
Payload
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select Motion.
  4. Press the F5 button and select SETIND.
  5. Set value to 1 and confirm with ENTER button.
Velocity (Cobot)
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select DCS, then Collaborative robot, then
  4. Set Speed Clamping to Disabled.
  5. Set Disabling Input to --(0).
  6. Set Maximum Speed to 250 mm/s.
Cycle time
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select VARIABLES, then SCR.
  4. Set ITP_TIME to 4 and confirm with ENTER button.
Use DCS

Skip this step if you didn't change the cycle time.

  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select DCS, then confirm with F2 button and select APPLY.
  4. Wait 3 seconds then press F4 button and select OK.
  5. Reboot the robot controller.
  6. After the reboot is completed, press the RESET button.

Connect IPC to the robot controller
Admin

  1. Connect an ethernet cable to the IPC's LAN-1 port. Per default, the configured IPC network port is usually enp3s0, matching LAN1, unless configured otherwise during the Wandelbots NOVA installation process.
  2. Connect the IPC to the robot controller's CD38A port.\
  3. Turn on the IPC.

Configure IPC's network settings

  1. Open https://<ipc-ip-address>:9090, e.g. https://172.345.538.2:9090, in a browser on your personal computer.
    If the IPC is not connected to the same network as your personal computer, you can connect a keyboard, a mouse and a display to the IPC. Then open localhost:9090 in a web browser.

    ⚠️

    Only one personal computer is allowed to connect to the instance's IP address. In case multiple personal computers control a physical robot, e.g. via API and the RobotPad, simultaneously, the robot will not move.

    • Close all applications on other personal computers and try again.
    • Unplug the robot's ethernet cable from the physical instance and wait a couple of minutes to restart Wandelbots NOVA foundation services. Plug it into the LAN port again and try again.

  2. Log in with the user credentials created during the Wandelbots NOVA installation.
    The IPC's settings are displayed.

  3. Select the Network tab in the sidebar.
    The IPC's network settings are displayed.

  4. Toggle the button next to the enp3s0 port (corresponding to the IPC's LAN-1 port) to enable network activity.

  5. Add a network interface to the LAN-1 port by creating an IP address that is in the same subnet as the robot controller's IP address.

  6. Save the settings.

Wandelbots NOVA is successfully connected to the robot.

Congrats! Continue the setup by adding the FANUC robot in the Wandelbots NOVA settings!

Add robot in settings

Troubleshooting

I don't know which version the FANUC industrial robot is on

Using the original robot control panel

  1. Turn on the robot controller adhering to the robot manufacturer's original operating instructions.
  2. Press MENU.
  3. Select HOME > HINT.
    The controller version is displayed.
  4. Ensure that the controller version is at least 9.30P/24 or 9.40P/28.

Find the FANUC industrial robot's IP address

  1. Press MENU button.
  2. Open SETUP > 0-NEXT > 0-Next > Host Comm.
  3. Select "TCP/IP". The robot controller's IP address is displayed.

Cobots - Setup instructions

Wandelbots NOVA only supports FANUC controllers with software version 9.30P/24 or 9.40P/28 or higher.

Prepare the FANUC
Admin

Using the original robot control panel with emulated keyboard

Set operating mode

  1. Activate the robot control panel.
  2. Press RESET button to reset eventual errors on the robot controller.

Configure option packages

  1. Press the MENU button.

  2. Select 0/NEXT, then STATUS.

  3. Select Version ID, then > (NEXT).

  4. Press the F3 button and select ORDER FI.
    All available packages are displayed.

  5. Ensure that the following option packages are present in the folder:

    Order numbers can change based on your country and robot model.

    Order numberFunction
    1A05B-2600-R651 - FRL parametersDefault packages
    1A05B-2600-R912 - Remote MotionRobot movement

    If one of the packages is missing, contact the FANUC customer support and request a FANUC image. This process can take a couple of days.

Configure robot network settings

  1. Press MENU button.
  2. Select HOME > PREV >Basics > Initial Setup > 8 network settings.
  3. Select "Connect to network".
  4. Press F4 button and select NEXT STEP > "Change network settings".
  5. Press F4 button and select NEXT STEP.
  6. Select LOW.
  7. Press F4 button and select NEXT STEP.
  8. Select Port 1 (CD38A).
  9. Press F4 button and select NEXT STEP.
  10. Select MANUAL.
  11. Press F4 button and select NEXT STEP.
  12. Enter the robot's name as controller name.
  13. Enter the robot controller's IP address, e.g. 192.168.1.100, into the "IP address" field.
    This IP address has to be within the same subnet as the IPC's IP address but can otherwise be set as desired.
  14. Enter the subnet mask 255.255.255.0.
    This ensures that the robot controller and the IPC are in the same subnet.
  15. Press F4 button two times and select NEXT STEP.
  16. Press F5 button and select FINISH. |

Configure variables

RMI
  1. Press MENU button.
  2. Select SYSTEM, then VARIABLES.
  3. Two files, RMI_CFG and RMI_EXEC are displayed. If those files are not displayed, contact Fanuc customer support to enable RMI.
UOP settings
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select Config, then
  4. Set 7(Enable UI Signal) to false.
  5. Set 42(Remote/Local Setup) to Local.
Error values
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select VARIABLES, then
  4. Set EMGDI_STAT to 32 or 0.
  5. Set ERSERVERITY to 0.
Payload
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select Motion.
  4. Press the F5 button and select SETIND.
  5. Set value to 1 and confirm with ENTER button.
Velocity (Cobot)
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select DCS, then scroll down to Speed limits
  4. Ensure that COLLABORATIVE SPEED and MAX SPEED value are identical.
Cycle time
  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select VARIABLES, then SCR.
  4. Set ITP_TIME to 8 and confirm with ENTER button.
Use DCS

Skip this step if you didn't change the cycle time.

  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select DCS, then confirm with F2 button and select APPLY.
  4. Wait 3 seconds then press F4 button and select OK.
  5. Reboot the robot controller.
  6. After the reboot is completed, press the RESET button.

Connect IPC to the robot controller
Admin

  1. Connect an ethernet cable to the IPC's LAN-1 port. Per default, the configured IPC network port is usually enp3s0, matching LAN1, unless configured otherwise during the Wandelbots NOVA installation process.
  2. Connect the IPC to the robot controller's CD38A port.\
  3. Turn on the IPC.

Configure IPC's network settings

  1. Open https://<ipc-ip-address>:9090, e.g. https://172.345.538.2:9090, in a browser on your personal computer.
    If the IPC is not connected to the same network as your personal computer, you can connect a keyboard, a mouse and a display to the IPC. Then open localhost:9090 in a web browser.

    ⚠️

    Only one personal computer is allowed to connect to the instance's IP address. In case multiple personal computers control a physical robot, e.g. via API and the RobotPad, simultaneously, the robot will not move.

    • Close all applications on other personal computers and try again.
    • Unplug the robot's ethernet cable from the physical instance and wait a couple of minutes to restart Wandelbots NOVA foundation services. Plug it into the LAN port again and try again.

  2. Log in with the user credentials created during the Wandelbots NOVA installation.
    The IPC's settings are displayed.
    A popup prompts you to enable administrative access.

  3. Enable administrative access and enter the admin password.

  4. Select the Network tab in the sidebar.
    The IPC's network settings are displayed.

  5. Toggle the button next to the enp3s0 port (corresponding to the IPC's LAN-1 port) to enable network activity.

  6. Click "edit" next to the IPv4.
    The IPv4 menu opens.

  7. Set the address dropdown to "Manual".

  8. Create an IP address that is in the same subnet as the robot's IP address (255.255.255.0), e.g. 172.345.255.2.

  9. Set the prefix to 255.255.255.0 (will automatically change to 24).

  10. Delete the prefilled gateway value.

  11. Save the settings.

Wandelbots NOVA is successfully connected to the robot.

Congrats! Continue the setup by adding the FANUC cobot in the Wandelbots NOVA settings!

Add robot in settings

Troubleshooting

I don't know which version the FANUC cobot is on

Using the original robot control panel with emulated keyboard

  1. Turn on the robot controller adhering to the robot manufacturer's original operating instructions.
  2. Press MENU.
  3. Select UTILITIES > HINT.
    The controller version is displayed.
  4. Ensure that the controller version is at least 9.30P/24 or 9.40P/28.

Find the FANUC cobot's IP address

  1. Press MENU button.
  2. Open SETUP > 0-NEXT > 0-Next > Host Comm.
  3. Select "TCP/IP". The robot controller's IP address is displayed.
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