# Connect FANUC to Wandelbots NOVA

> Learn how to connect FANUC robots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration.

> **Info:** Wandelbots NOVA includes a real-time kernel and `robot-realtime` tuned profile by default to ensure stable robot control and meet timing requirements.

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](#supported-models)

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

[Use virtual controller](#use-virtual-controller)

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

[Set up industrial controller](#set-up-industrial-controller)

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

[Set up cobot controller](#set-up-cobot-controller)

## Supported models

### Controllers

| Controller | Supports | Requirements |
| - | - | - |
| R-30iB Plus | industrial | Firmware: >=9.30P/24 or 9.40P/28; Option package: Remote Motion Interface 1A05B-2600-R912, 🇺🇸 FRA Params 1A05B-2600-R650 & HMI Device SNPX 1A05B-2600-R553 🌏 FRL 1A05B-2600-R651 |
| R-30iB Mate Plus | industrial | Firmware: >=9.30P/24 or 9.40P/28; Option package: Remote Motion Interface 1A05B-2600-R912, 🇺🇸 FRA Params 1A05B-2600-R650 & HMI Device SNPX 1A05B-2600-R553 🌏 FRL 1A05B-2600-R651 |
| R-30iB Mini Plus | cobot | Firmware: >=9.30P/24 or 9.40P/28; Option package: Remote Motion Interface 1A05B-2600-R912, for simulated manual mode: DCS Safe I/O Connect 1A05B-2600-J568 & DCS Pos./Speed Check 1A05B-2600-J567, for code export: ASCII Program Loader 1A05B-2600-R796, 🇺🇸 FRA Params 1A05B-2600-R650 & HMI Device SNPX 1A05B-2600-R553 🌏 FRL 1A05B-2600-R651 |

### Motion groups

#### Robotic arms

**Cobots**

| Robot arm |
| - |
| CR-35iB |
| CR-7iA |
| CR-7iA/L |
| CRX-10iA |
| CRX-10iA/L |
| CRX-20iA/L |
| CRX-25iA \| CRX-30iA |
| CRX-5iA |

**Industrial robots**

| Robot arm |
| - |
| ARC Mate 100iC/12S \| M-10iA/12S |
| ARC Mate 100iD \| M-10iD/12 |
| ARC Mate 100iD/16S \| M-10iD/16S |
| ARC Mate 120iD \| M-20iD/25 |
| ARC Mate 120iD/12L \| M-20iD/12L |
| ARC Mate 120iD/35 \| M-20iD/35 |
| LR Mate 200iD |
| LR Mate 200iD/4S |
| LR Mate 200iD/7L |
| M-710iC/20L |
| M-900iB/280L |
| M-900iB/360E |
| M-900iB/400L |
| R-2000iC/125L |
| R-2000iC/165F |
| R-2000iC/210F |

## Use virtual controller

### Step 1: Open the home screen

Open your cloud instance via NOVA Cloud 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](/nova/26.7/architecture).

### Step 2: Create a cell in Setup

Open Setup and go to the `Cell` tab.

### Step 3: 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](/nova/26.7/nova-api/overview#add-a-robot-to-the-cell).

OR add a robot to your cell in Setup:

1. Open the `Robots` tab.
   → The robot overview is displayed.
2. Click [Add] to add a robot to your cell.\
   → A drawer opens guiding you through adding a robot.
   If the [Add] button is greyed out, your license might not support adding more robots. Please contact your administrator.
3. Select the robot type `Virtual`.
   → The drawer updates to display options for adding a virtual robot.

> **Info:** Adding a physical robot will only work after [successful setup](#set-up-and-connect-fanuc-controller).

4. Name the robot.
5. Select `FANUC` as manufacturer.
6. Select the desired robot model.
7. `Add` the robot to the cell.
   → A progress indicator is displayed while the robot is being added to the cell.
   → The robot is displayed in the cell overview.

### Step 4: Add a TCP

To replicate a physical robot's behavior accurately, you can define TCPs for virtual robots in the Setup app.

1. Click on the robot.
   → A drawer opens displaying the robot details.
2. Open the `TCP` tab.
   → The TCP tab displays all existing TCPs of the robot.
   → For physical robots, the TCP tab presents an overview on all existing TCPs on the physical robot controller.
   You cannot add TCPs for physical robot controllers in Setup as these need to be configured on the robot controller.
3. Use [Add] to add a new TCP.
   → Options to add a new TCP are displayed.
4. Define the TCP's translation and rotation relative to the robot's flange.
5. Save the new TCP.
   → The new TCP is displayed in the TCP tab and can be selected in Robot Pad.

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

Cloud instances are not suited to control a physical robot and you need to use a VM or use an IPC instead.
More information on available NOVA instance types [here](/nova/26.7/installation/installation#instance-types).

### 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](/nova/26.7/setup/cell-design).

Ensure that the FANUC controller you're about to connect to Wandelbots NOVA is listed in the [supported models](#supported-models) section.

Note that setting a correct mounting pose in the robot controller is crucial, especially for cobots, as they are sensitive to gravity direction.

### 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]

### Step 1: 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.
   > **Info:** 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:

   **EU/ROW**

   > **Info:** Order numbers can change based on your country and robot model.

   | Order number | Function |
   | - | - |
   | 1A05B-2600-R651 - FRL parameters | Default packages |
   | 1A05B-2600-R912 - Remote Motion | Robot movement |

   **US**

   > **Info:** Order numbers can change based on your country and robot model.

   | Order number | Function |
   | - | - |
   | 1A05B-2600-R650 - FRA Params | Default packages |
   | 1A05B-2600-R912 - Remote Motion | Robot movement |
   | 1A05B-2600-R553 - HMI Device | Read/write access |

   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.

   | Field | Value |
   | - | - |
   | Port#1 IP address | 192.168.125.7 _This IP address has to be within the same subnet as the IPC's IP address but can otherwise be set as desired._ |
   | Subnet mask | 255.255.255.0 |

#### Configure variables

##### RMI

1. Press MENU button.
2. Select SYSTEM, then VARIABLES.\
   → 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.

### Step 2: 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.

### Step 3: 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.

   > **Warning:** 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.

### Step 4: Use FANUC industrial controller on Wandelbots NOVA

1. Type in your physical instance's IP address to access the home screen.
   → The home screen is displayed.
2. Open Setup and go to the `Cell` tab.
   → The cell overview is displayed.
3. Open the `Robots` tab.
   → The robot overview is displayed.
4. Tap [Add] to add a robot to your cell.\
   → A drawer opens guiding you through adding a robot.
   If the [Add] button is greyed out, your license might not support adding more robots. Please contact your administrator.
5. Select the robot type `Physical`.
   → The drawer updates to display options for adding a physical robot.
6. Name the robot.
7. Select `FANUC` as the manufacturer.
8. Enter the robot's IP address or host name.
9. Tap on `Add`.
   → A progress indicator is displayed while the robot is being added to the cell.
   → The robot is displayed in the cell overview.
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.

#### TCPs

To use TCPs for connected physical controllers on NOVA, you need to set them up on the robot controller first.
Refer to the original FANUC documentation on [how to set up TCPs on the robot controller](https://techtransfer.fanucamerica.com/tech-transfer/fanuc-user-tool-setup-tips).

TCPs will then be displayed in the Setup app under the `TCPs` tab in the robot's settings and can be selected for path planning in Robot Pad.

### 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.

#### `Safety state mastering` is returned and the robot can't be activated

When mastering on the FANUC controller isn't done or is still in progress, the controller returns `SAFETY_STATE_MASTERING` which translates as a safety message in Robot Pad where action is required.
As a result the robot cannot be moved.

1. Open Robot Pad and check if the safety bar says `Action required` upon hover.\
   If yes, `SAFETY_STATE_MASTERING` is returned as well.\
   → The robot cannot be activated.
2. Press MENU button on the robot control panel.
3. Select `0/NEXT`, then `SYSTEM`.
4. Select `VARIABLES`, then
5. Set `MASTER_ENB` to 0.
6. If `SAFETY_STATE_MASTERING` is still returned follow the instructions about how to do a quick
   mastering in the original basic operating manual of FANUC.
   > **Info:** After a quick mastering, previously learned cartesian poses can lead to a different
   > pose of the physical robot.
   → In Robot Pad, the safety state is now green and the robot can be activated.

#### FANUC displays error `640091152` after establishing RMI connection

After establishing an RMI connection, the FANUC displays an error message: `640091152`.

1. Reboot the robot controller.

All error messages are listed in the original FANUC alarm code instructions.

#### FANUC displays error `APSH-155` and cannot find the home position

The home position likely wasn't saved.

1. Define a home position with `is a valid HOME`. This reference position is not used during operation but resolves the issue.

All error messages are listed in the original FANUC alarm code instructions.

#### After setting the payload, I get an `SRVO-480` error

The payload setting is likely erroneous.

1. Correct the payload setting.

All error messages are listed in the original FANUC alarm code instructions.

## Set up cobot controller

Cloud instances are not suited to control a physical robot and you need to use a VM or use an IPC instead.
More information on available NOVA instance types [here](/nova/26.7/installation/installation#instance-types).

### 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](/nova/26.7/setup/cell-design).

> **Info:** 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](#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]

### Step 1: 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:

   **EU/ROW**

   > **Info:** Order numbers can change based on your country and robot model.

   | Order number | Function |
   | - | - |
   | 1A05B-2600-R651 - FRL parameters | Default packages |
   | 1A05B-2600-R912 - Remote Motion | Robot movement |

   **US**

   > **Info:** Order numbers can change based on your country and robot model.

   | Order number | Function |
   | - | - |
   | 1A05B-2600-R650 - FRA Params | Default packages |
   | 1A05B-2600-R912 - Remote Motion | Robot 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.\
   → 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.

### Step 2: 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.

### Step 3: 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.

   > **Warning:** 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.

### Step 4: Use FANUC cobot controller on Wandelbots NOVA

1. Type in your physical instance's IP address to access the home screen.
   → The home screen is displayed.
2. Open Setup and go to the `Cell` tab.
   → The cell overview is displayed.
3. Open the `Robots` tab.
   → The robot overview is displayed.
4. Tap [Add] to add a robot to your cell.\
   → A drawer opens guiding you through adding a robot.
   If the [Add] button is greyed out, your license might not support adding more robots. Please contact your administrator.
5. Select the robot type `Physical`.
   → The drawer updates to display options for adding a physical robot.
6. Name the robot.
7. Select `FANUC` as the manufacturer.
8. Enter the robot's IP address or host name.
9. Tap on `Add`.
   → A progress indicator is displayed while the robot is being added to the cell.
   → The robot is displayed in the cell overview.
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.

#### TCPs

To use TCPs for connected physical controllers on NOVA, you need to set them up on the robot controller first.
Refer to the original FANUC documentation on [how to set up TCPs on the robot controller](https://techtransfer.fanucamerica.com/tech-transfer/fanuc-user-tool-setup-tips).

TCPs will then be displayed in the Setup app under the `TCPs` tab in the robot's settings and can be selected for path planning in Robot Pad.

### 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.

#### FANUC displays error `640091152` after establishing RMI connection

After establishing an RMI connection, the robot displays an error message: `640091152`.

1. Reboot the robot controller.

All error messages are listed in the original FANUC alarm code instructions.

#### Robot movement was interrupted due to error `SYST-322`

Most likely the DCS Auto Status Check is disabled. Enable the DCS Auto Status Check to avoid the error `SYST-322`.

1. MENU button → 0/NEXT → SYSTEM → DCS → Collaborative Robot → Auto Status Check → Check during moving → Enable with ENABLE.

All error messages are listed in the original FANUC alarm code instructions.

#### FANUC displays error `APSH-155` and cannot find the home position

The home position likely wasn't saved.

1. Define a home position with `is a valid HOME`. This reference position is not used during operation but resolves the issue.

All error messages are listed in the original FANUC alarm code instructions.

#### After setting the payload, I get an `SRVO-480` error

The payload setting is likely erroneous.

1. Correct the payload setting.

All error messages are listed in the original FANUC alarm code instructions.

#### Connection issues

Resolve connection issues by referring to the [FAQ section on robot connectivity](/nova/26.7/faq#wandelbots-nova-instance-is-physically-connected-to-the-robot-but-the-robot-is-not-moving).