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Supported Controllers

R-30IB+

Notes

Required Options

To use the Realtime Controller with your Fanuc controller, the following options must be installed:

  • R912 Remote Motion Interface (RMI)

Consult your Fanuc representative on help with purchasing and installing this option.

Physical Configuration

RTR uses Port 1 in the Fanuc controller. The following picture shows the connection in the R-30iB Mate controller

Network Configuration

Assign an IP to the robot that is in the same network as the RTR controller.

Settings Configuration

Brake control must be disabled:

  • In Menu>System>Variables, set all of $PARAM_GROUP[1].$SV_OFF_ENB[1-6] = FALSE, then cycle power.

Remote Motion Interface (RMI) Configuration

Constant Path option must be disabled to use RMI:

  • Under Menu>System>Variables, set $CPCFG.CP_ENABLE = FALSE, then cycle power

Run Instructions

Running the Realtime Controller on a Fanuc controller with RMI only requires that the controller is powered on. Make sure that there are no running TP programs, and that the RMI_MOVE program is not selected.

Realtime Controller Configuration

In the control panel, the robot’s IP in the project has to be the same one that has been configured in the robot.

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