25.5
Robots
FANUC

FANUC

Using a FANUC with Wandelbots NOVA offers a wide range of possibilities for automating your production processes. There are 4 things you need to know before you start:

Which FANUC controller types and models are supported by Wandelbots NOVA?

Supported models

Wandelbots NOVA provides you with virtual controllers for path planning, app development and simulation purposes.

Use virtual controller

You can connect your FANUC industrial controller to Wandelbots NOVA for real-world automation.

Set up industrial controller

You can connect your FANUC cobot controller to Wandelbots NOVA for real-world automation.

Set up cobot controller

Supported models

R30iBPlus controller

Industrial

  • ArcMate 100iD
  • ArcMate 100iD/16S
  • ArcMate 120iD
  • ArcMate 120iD/12L
  • ArcMate 120iD/35
  • M-10iD/12
  • M-10iD/16s
  • M-20iD/25
  • M-20iD/35
  • M-900iB/280L
  • M-900iB/360E
  • LR Mate 200iD/4s
  • LR Mate 200iD
  • LR Mate 200iD7L
  • R-2000iC/125L
  • R-2000iC/210F

Cobots

  • CR-35iB
  • CRX-10iA/L
  • CRX-10iA
  • CRX-20iA/L
  • CRX-25iA
  • CRX-30iA
  • CR7iA
  • CR7iA/L

Use virtual controller

Open the home screen

Open your cloud instance via the Developer Portal or type in your physical instance's/virtual instance's IP address to access the home screen. Get an overview on the home screen and its functionalities here.

Create a cell in the settings

Open the settings app and go to the "Cell" tab.

Add robot to your cell

If you want to start using the Wandelbots API, do so now and add a robot via the Wandelbots NOVA API.

OR add a robot to your cell in the settings:

  • Select the "Robots" tab.
  • Click to add a robot to your cell.
    If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
  • Select the robot type Virtual.

    Adding a physical robot will only work after successful setup.

  • Name the robot
  • Select FANUC as manufacturer.
  • Select the desired robot model.
  • Add the robot to the cell.

Congrats! You can now start to plan paths and simulate! Open Robot Pad from the home screen of your instance and get started ✨.

Set up industrial controller

About setup instructions

The provided setup instructions do not replace a thorough understanding of the robot manufacturer's original operating instruction and only apply to the supported models mentioned above.

The setup instructions include the following steps for both industrial robots and cobots:

  1. Preparing the robot for the connection with Wandelbots NOVA.
  2. Physically connecting the IPC to the robot controller.
  3. Configuring the IPC to establish communication with the robot controller.
  4. Using the FANUC controller on Wandelbots NOVA.
  5. Troubleshooting common issues that may arise during the setup process.

In order to connect the FANUC controller to Wandelbots NOVA, Wandelbots NOVA needs to be integrated into the robotic cell according to these cell designs.

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

Ensure that the FANUC controller you're about to connect to Wandelbots NOVA is listed in the supported models section.

Qualified user groups

Preparing a controller for the use of Wandelbots NOVA is a task that requires a certain level of expertise. The following instructions are intended for qualified user groups only.

⚠️ 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.

If a high experience level, e.g. admin user, is recommended to complete the step, the following label will be displayed next to the header:

Admin

Prepare FANUC - Industrial
Admin

Using the original robot control panel

Set operating mode

  1. Set the robot controller's key switch to operating mode T1.

    Wandelbots NOVA only supports T1 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 address192.168.125.5 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. Check that EMGDI_STAT is 32 or 0.
  5. Check that ERSERVERITY is 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.
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 can now connect to the robot.

Use FANUC industrial controller on Wandelbots NOVA

  1. Open your cloud instance via the Developer Portal or type in your physical instance's/virtual instance's IP address to access the home screen.
  2. Open the settings app and go to the "Cell" tab.
  3. Select the "Robots" tab.
  4. Tap to add a robot to your cell.
    If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
  5. Select the robot type Physical.
  6. Name the robot.
  7. Select FANUC as the manufacturer.
  8. Enter the robot's IP address or host name.
  9. Tap on Add.
  10. Set the robot controller's key switch to Auto. Manual mode is not available for FANUC.
  11. Turn the robot control panel off.
  12. Close errors with reset button on robot control panel.
  13. Activate Motion Groups using post /cells/{cell}/motion-groups/all to set the robot as active. Can also be done in Robot Pad by using the switch in the task bar.

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.

Set up cobot controller

About setup instructions

The provided setup instructions do not replace a thorough understanding of the robot manufacturer's original operating instruction and only apply to the supported models mentioned above.

The setup instructions include the following steps for both industrial robots and cobots:

  1. Preparing the robot for the connection with Wandelbots NOVA.
  2. Physically connecting the IPC to the robot controller.
  3. Configuring the IPC to establish communication with the robot controller.
  4. Using the FANUC controller on Wandelbots NOVA.
  5. Troubleshooting common issues that may arise during the setup process.

In order to connect the FANUC controller to Wandelbots NOVA, Wandelbots NOVA needs to be integrated into the robotic cell according to these cell designs.

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

Ensure that the FANUC controller you're about to connect to Wandelbots NOVA is listed in the supported models section.

Qualified user groups

Preparing a controller for the use of Wandelbots NOVA is a task that requires a certain level of expertise. The following instructions are intended for qualified user groups only.

⚠️ 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.

If a high experience level, e.g. admin user, is recommended to complete the step, the following label will be displayed next to the header:

Admin

Prepare FANUC - Cobot
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. Check that EMGDI_STAT is 32 or 0.
  5. Check that ERSERVERITY is 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
  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 can now connect to the robot.

Use FANUC cobot controller on Wandelbots NOVA

  1. Open your cloud instance via the Developer Portal or type in your physical instance's/virtual instance's IP address to access the home screen.
  2. Open the settings app and go to the "Cell" tab.
  3. Select the "Robots" tab.
  4. Tap to add a robot to your cell.
    If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
  5. Select the robot type Physical.
  6. Name the robot.
  7. Select FANUC as the manufacturer.
  8. Enter the robot's IP address or host name.
  9. Tap on Add.
  10. Set the robot controller's key switch to Auto. Manual mode is not available for FANUC.
  11. Turn the robot control panel off.
  12. Close errors with reset button on robot control panel.
  13. Activate Motion Groups using post /cells/{cell}/motion-groups/all to set the robot as active. Can also be done in Robot Pad by using the switch in the task bar.

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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