Fanuc Controller Configuration
Supported Controllers
R-30ib+
Notes
IMPORTANT:
Expected Robot Behaviour with TP Speeds
Up to Release 2.4 :
On acquire, robot will change the TP speed to 100
After acquire, TP speed should NOT be changed. This can affect the behaviour of the robot and will lead to jerky motions.
To modulate the speed of the robot, change the speed in the Move Commands in the Control Panel
For Release 2.5 and beyond:
On acquire, robot will NOT change the TP speed to 100
TP Speed can be reduced till 10% (Default Speed of Fanuc Robot). Below 10% TP speed, rapidplan can throw errors.
Speeds can also be changed through the RTR Move commands.
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
Update Min_ITP Settings:
This change is only to be done for Release 2.5 and beyond
Menu>System>Variables>$RMI_CFG
Update $MIN_ITP_TIM = 3
For Release 2.5 and beyond, we do not need to update the brake and CPCFG settings described below:
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.