Fanuc and TPP Basics
Sebastian van Delden
USC Upstate
svandelden@uscupstate.edu
Typical Setup
The Robot and its Axes
The Controller
The Operator Panel
When in “AUTO” mode
The Operator Panel (cont)

The Two/Three Mode Switch

Teach Modes (T1, etc)



AUTO



Must be in this mode to develop a program using the teach
pendent.
Top robot movement speed is limited
After a program is developed, turn off the teach pendent and
flip to AUTO.
The ‘current’ program that was being edited by the teach
pendent can now be run by pressed the Cycle Start button
Note that program execution can start at any line in
the program.
The Teach Pendent
NOTE: Squeeze Deadman switch only half way – full compression generate
an E-Stop… (electricuted people usually squeeze their hands very hard….)
The Teach Pendent (cont)
The Teach Pendent (cont)
DISP and DIAG Keys
(not on previous diagram)
Programming
Teach Pendent Programming (TPP)
Example Display and TPP Program
Types of Instructions

Motion instruction:


Additional motion instruction:


Places (loads) position data into a register.
Input/output instruction:


Places (loads) numerical data into a register.
Position register instruction:


Performs an additional (special) operation during a motion.
Register instruction:


Moves the tool to the target position within the operating range.
Sends or receives a signal to or from a peripheral unit.
Branch instruction: Changes the flow of a program.
Types of Instructions (cont)

Wait instruction:



Routine call instruction: Calls and executes a subprogram.
Macro instruction:





Holds execution of the program until the specified conditions are satisfied.
Calls a specified program and executes it.
Palletizing instruction: Palletizes workpieces.
Program end instruction: Terminates execution of a program.
Comment instruction: Adds a comment to a program.
Other instructions
Programming

Program Detail Screen

Setup/edit program header information
Program Sub types

Job (JB)


Process (PR)


This represents a subprogram that is called by a job program for
execution of a particular job.
Macro (MR)


This represents a main program that can be started using a
device such as a teach pendant. Process programs are called in
a main program for execution.
This represents a program for executing a macro instruction. The
subtype of a program registered on the macro instruction setting
screen is automatically set to MR.
State:

Specify this when creating a conditional program with the state
monitoring function.
Group Masks

The Robot control unit can divide up to 40
axes (when a multifunction board is inserted)
into up to five operation groups and control
those groups simultaneously. A single group
can control up to nine axes (multimotion
function). If the system has only one
operation group, the default motion group is
group 1 (1, *, *, *, *).
Editing a program



Each line is numbered
Each line is created using the built-in menus
[End] symbolizes the end of the program
Executing a program

In Teach Mode:


Deadman switch must be pushed in.
Clear any faults.


Push SHIFT + FWD



Push the “RESET” button when all faults are cleared.
NOTE: Will execute program from the current line in the
program.
Push SHIFT + BWD to execute the program
instructions in reverse order
In Auto Mode:


Push in the Cycle Start button
Teach pendent must be turned off
Motion Commands
Motion Commands (cont)
Types of Motion

Joint (J)


Linear (L)


When Joint is selected, the tool is moved
arbitrarily between two specified points.
When Linear is selected, the tool is moved along
a straight line between the two specified points.
Circular (C)

When Circular is selected, the tool is moved along
an arc connecting three specified points.
Circular Motion
Fine versus Continuous “Attitudes”
Changing Robot Job speed (feedrate)
Calculating final speed of robot during
a motion
Teaching Points


When a motion instruction is taught, position
data is written to the program at the same
time.
Two types of positions possible


Joint – joint angles
Cartesian – X, Y, Z, Yaw, Pitch, Roll
Cartesian (point) Locations

Information Stored:

Configuration:
Viewing the detailed point information
Joint Locations
Location Variable Types

Two types of location variables


Location Variables

A position number is automatically assigned each
time a motion instruction is taught and it is reflected
in the program: P[1], P[2], etc…

Deleted a location, does not change numbering
Location Registers


Same idea, but like global variables. 100 provided.
Add descriptive comments to each location

Just press ENTER when cursor is at that point
Other Variables (“Registers”)

“Registers” are used to store data – integers,
etc



So, not “typical” variables…
Two hundred are provided.
R[1], R[2], … , R[200]
Variables
Branch Instructions

The label instruction (LBL[i]) is used to specify a
program execution branch destination.

The JMP LBL[i] instruction transfers program control to a
specified label.
If Statement (Conditional Branch)
Step by Step Example of Creating and
Running a new program

When looking at the list of programs, click the
F2 key which corresponds to the “CREATE”
button.
Step by Step Example

Type in the program name.
Use Arrow Keys to
choose type of
characters
Use F Keys to
type characters
Step by Step Example
The robot is currently
“at” this location
Press F1 Key to
insert a new
motion command
Press NEXT to go
to next screen of
commands
Press F5 Key to modify
a taught location
Step by Step Example
Press F1 Key to insert a new instruction.
We’ll choose the JMP/LBL in order to create
a loop in this example.
Step by Step Example



Program is ready to
execute.
Use arrows to move the
cursor the first line that
you would like to
execute.
Hold-in deadman switch
(1/2 way)
1.
2
1
2.
Press the RESET key to
clear faults.
Hold-in SHIFT and press
FWD
Step by Step Example

When the program is completely developed
and tested, the program can be run in
operation mode:



Switch the teach pendant “ off ”
Switch the Mode button on the Operator Panel (on
the controller) to AUTO
Press the CYCLE START button on the operator
panel