Programming a FANUC robot involves several steps, including setup, configuration, and writing the actual robot programs using the FANUC programming language called KAREL or using the simpler TP (Teach Pendant) programming. Here’s a general guide to get you started:

 

1. Setup and Configuration

Before programming, ensure that the robot is correctly set up and configured. This includes:

  • Installation: Physically install the robot in its working environment.

  • Connection: Connect the robot controller to power and to any peripheral devices (e.g., end-effectors, sensors).

  • Initialization: Power on the robot and initialize the controller.

 

2. Teach Pendant Programming (TP Programming)

Teach Pendant (TP) programming is a common method for programming FANUC robots. The Teach Pendant is a handheld device with a display screen and a keypad/joystick for teaching and programming the robot.

Steps for TP Programming:

  • Power On and Jog the Robot:

    • Turn on the robot controller and the teach pendant.

    • Use the jog functions to move the robot to the desired start position.

  • Enter the Teach Mode:

    • Switch the mode selector to “Teach” mode.

  • Create a New Program:

    • From the main menu on the teach pendant, navigate to the program section.

    • Select the option to create a new program and give it a name.

  • Teach Points:

    • Move the robot to each desired position using the jog controls.

    • Record each position (point) by pressing the appropriate button (usually "F5" to register a point).

  • Add Instructions:

    • Insert motion instructions (e.g., Joint, Linear, Circular) to move to the taught points.

    • Add other instructions such as Wait, I/O operations, and call sub-programs if needed.

  • Test the Program:

    • Run the program in step mode first to ensure it performs as expected.

    • Switch to automatic mode and run the full program.

Example TP Program:

1: LBL[1:Start] 2: J P[1] 100% FINE ; Move to point 1 3: L P[2] 500mm/sec FINE ; Linear move to point 2 4: WAIT 1.00(sec) ; Wait for 1 second 5: CALL Home ; Call a subroutine named Home 6: END

 

3. KAREL Programming

KAREL is a more advanced programming language for FANUC robots, similar to Pascal.

Steps for KAREL Programming:

  • Set Up the Development Environment:

    • Use a text editor or FANUC’s Roboguide simulation software to write KAREL programs.

  • Write the KAREL Code:

    • Define the main program and subroutines.

    • Use KAREL syntax to declare variables, define logic, and control the robot.

  • Compile the Program:

    • Use the KAREL compiler (provided by FANUC) to compile the written code into a binary format that the robot controller can execute.

  • Load and Run the Program:

    • Load the compiled program into the robot controller.

    • Execute the program from the teach pendant or controller interface.

Example KAREL Program:

PROGRAM example VAR status: INTEGER BEGIN -- Move the robot to home position MOVE TO_HOME (status) -- Check for errors IF status = 0 THEN WRITE('Move Successful',CR) ELSE WRITE('Move Failed',CR) ENDIF END example

 

4. Testing and Debugging

  • Test the program: Run the program in a controlled environment to ensure it performs the desired tasks.

  • Debugging: Use the teach pendant and simulation tools to debug any issues.

 

5. Optimization and Deployment

  • Optimize the program: Ensure the program runs efficiently and safely.

  • Deploy: Implement the program in the production environment, ensuring all safety protocols are followed.

 

Additional Resources

  • FANUC Manuals: Refer to the specific robot model's user and programming manuals for detailed instructions.

  • Training Courses: FANUC offers training courses for beginners and advanced users.

  • Simulation Software: Use FANUC’s Roboguide or similar simulation software to develop and test programs virtually.

By following these steps, you can effectively program a FANUC robot for a variety of industrial applications.