FANUC - Robot Configuration for MachineLogic Applications

  • Updated on May 8, 2025
  • Published on May 5, 2025
  • 4 minute(s) read
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Overview

This document outlines the steps necessary to set up and program a Fanuc CRX robot in MachineLogic. By following this guide, you’ll be able to seamlessly integrate your Fanuc robot with Vention’s motion components ecosystem using MachineMotion AI.

Compatibility Notice

This user guide is compatible for MachineMotion AI only. To access the guide for the previous MachineMotion v2, follow the following link: MachineMotion v2 - Fanuc Configuration Guide

Supported Models

  • CRX-5iA

  • CRX-10iA

  • CRX-10i/L

  • CRX-20iA/L

  • CRX-25iA

Required Software and Hardware

Software Option

  • Remote Motion Interface (R912) — PR-FA-002-0022
    Enables remote control capabilities between MachineLogic and the Fanuc controller.

  • Advanced DCS Package (R859)
    The Advanced DCS Package includes safety options and the powerful 4D Graphics option.

Hardware Option

  • CRX Safe I/O — PR-FA-002-0021
    Integrates safety signals with the Fanuc robot.

Installation Steps

System Connection

To program a Fanuc CRX series Robot with MachineMotion AI, ensure you have the following components:

  • ✅ MachineMotion AI Controller

  • ✅ Pendant V3

  • ✅ Robot Safety Module

  • ✅ E-Stop Module with Reset

  • ✅ Fanuc Robot with controller

  • ✅ Safety Extension Cables

Note: This list depicts the minimum set of components needed to configure and control your Fanuc robot with MachineMotion AI.
Your system may have a different set of components according to your safety needs.

Wiring Diagram for Robot with MachineMotion AI

Figure 1. Safety Components Connection

Robot Controller Safety Wiring Diagram

Wiring diagram for Fanuc R-30iB Mini Plus IO board connections to a robot.

Important: Ethernet Cable Connection

To ensure proper functionality, the ethernet cable needs to be connected to the port#2 in the Fanuc controller as shown in the following picture.

1. Download Deployment Files

  1. Download and extract the deployment zip file from:

    Fanuc_Configuration_Files_MMAI
    21.36 KB


    You should get:

    • FanucConfig_Step1

    • FanucConfig_Step2

    • FanucConfig_Step3

2. Configure Controller

2.1 Initial Setup

This step prepares the Fanuc controller in order to set each variable automatically in the following steps.

  1. Power on the robot controller

  2. Insert USB drive

  3. Open the virtual iPendant via the icon at the bottom right

  4. Navigate: MENU → 7 FILE → F5 [UTIL] → 1 SET DEVICE → 6 USB DISK (UD1:)

  5. Open FanucConfig_Step1 folder

  6. Load files:

    • FANUC.CVR

    • GET_PARAMS.TP

    • RMI_Move.TP

Action

  • Go to each file → Press F3 [LOAD] → Confirm with YES

  • Overwrite if prompted.

Restart the Controller:

  • Navigate: FCTN → 0 NEXT → 8 START MODE → CTRL

  • Power off → Wait 10 sec → Power on

Override Settings

  • Navigate: MENU → 4 Variables

  • Update: $PLST_SCHNUM → 256

  • Navigate: MENU → 0 NEXT → 1 Program Setup → Numeric Registers

  • Set value: 256

Cold Restart:

  • FCTN → Start (COLD)

2.2 I/O and Controller Configuration

2.2.1 Load Configuration Files

  1. Open iPendant

  2. Navigate: MENU → 7 FILE → UTIL → SET DEVICE → USB DISK (UD1:) → FanucConfig_Step2

  3. Load files:

    • FANUC.XVR

    • DIOCFGSV.IO

Action

  • Go to each file → Press F3 [LOAD] → Confirm with YES

  • Overwrite if prompted.

2.2.2 Apply DCS (Dual Check Safety)

  1. Navigate: MENU → 0 NEXT → 6 SYSTEM → F1 [TYPE] → 7 DCS

  2. Select: F2 [APPLY]

  3. Code: 1111

  4. Confirm and reboot.

2.3 Payload Creation

  1. Navigate to: MENU → 7 FILE → FanucConfig_Step3

  2. Load: SET_PAYLOADS.TP

  3. Execute the program:

    • Select SET_PAYLOADS

    • Enable the teach pendant

    • Press Play

    • Hold Run toggle in FWD until completion

You may see an alarm: SYST-212 Need to apply to DCS param.

Re-apply DCS as shown in Step 2.

Connecting to the Robot Controller from MachineMotion

You're now ready to deploy your MachineLogic application from your Vention project to the MachineMotion AI controller!

Follow the steps detailed in the Deploy your Application and Configuration to Controller documentation.

Support

If you need further assistance, reach out to our support team:

📧 support@vention.io
📞 +1-800-940-3617 (ext. 2)

Additional Information

IO Configuration

To access IO configuration on the Fanuc controller:

MENU → 5 I/O → [TYPE] → Select the type you wish to access from the list (UOP or Digital)

Select Config and then configure it as shown bellow.

UOP Configuration - Outputs

#

RANGE

RACK

SLOT

START

1

UO [1-5]

0

0

0

2

UO [6-6]

0

0

1

3

UO [7-20]

0

0

0

UOP Configuration - Inputs

#

RANGE

RACK

SLOT

START

1

UI [1-3]

35

1

1

2

UI [4-4]

0

0

0

3

UI [5-5]

48

1

1

4

UI [6-7]

0

0

0

5

UI [8-8]

35

1

1

6

UI [9-18]

0

0

0

Digital Configuration - Outputs

#

RANGE

RACK

SLOT

START

1

DO [1-1]

0

0

0

2

DO [2-3]

0

0

2

Digital Configuration - Inputs

#

RANGE

RACK

SLOT

START

1

DI [1-3]

0

0

1

Controller and Collaborative Robot Configuration

Controller Reset Configuration

  1. [MENU]→ 0 [NEXT] → 6 [SYSTEM] → [TYPE] -> 6 Config

  2. Go to Line 7: Enable Ui Signal -> Select -> TRUE

Network Configuration

  1. [MENU]→ 6 [SETUP] → [TYPE] → 0 [NEXT] -> 6 [Host Comm]

  2. Select 1 [TCP/IP] and then [DETAIL].

  3. Ensure Line 2 indicates Port #2.

  4. If Line 2 indicates Port #1, select [PORT].

  5. Configure the IP settings for Port #2:

  6. IP Address: 192.168.5.3

  7. Subnet Mask: 255.255.255.0

  8. Router IP Address: 192.168.5.1

  9. Make sure the Port #1 is not in the same subnet as port #2 to ensure no network conflict problems will occur.

Collaborative Robot Configuration

  1. Initiate the Safe I/O card

    1. [MENU]→ 0 [NEXT] → 6 [SYSTEM] → 7 [DCS]

    2. Safe I/O device (Line 16) and Enter

    3. Init two times

    4. [PREV]

  2. Go to 7. Cart. Speed check , Enter

    1. Select No. 1 -> Detail

    2. 2. Enable/Disable -> Choice -> Enable

    3. 7 Limit: Set Value to 250

    4. 8 Stop type -> Choice -> Not Stop

    5. 9 Speed Control -> Choice -> Cart Speed

    6. 11 Disabling Input -> Choice -> SPI -> [1:SFDI1]

    7. [PREV]

    8. Select No. 2 -> Detail

    9. 2. Enable/Disable -> Choice -> Enable

    10. 7. Limit: Set Value to 250

    11. 11 Delay time -> Set Value to 500 ms

    12. 12 Disabling Input -> Choice -> SPI -> [1:SFDI1]

  3. Return to the DCS main page and select Safe I/O Connect

    1. SIR[1] =! CSC[2]              - - - [0] OK

    2. @SPO[9]= SSI[10] AND! SIR[2] OK

  4. Return to the DCS main page and select Collaborative robot then ENTER

    1. Line 4 External Force Limit / Disabling input -> Limit 1: 150N -> SIR[1]

    2. Force Limit Sensitivity: LOW

    3. Line 33 Set collaborative speed to the desired value (Default is 250

    4. Line 35 Disabling Input F [20]

    5. Line 37 Define Max Speed to 2000 mm/s

    6. Line 43 STOP -> Choice -> SIR [2] -> Enter

    7. Line 68 Manual Guided Teaching -> Enter

    8. Activation input -> Choice -> DI -> Set value to 2

Backup and Restore

Backup Steps

  1. On teach pendant:

    • FCTN → Abort All

    • MENU → 7 FILE → UTIL → Set Device → USB DISK (UD1:)

    • Create directory via UTIL → Make DIR

    • Navigate into directory

    • Select 8 All of Above → YES

Restore Steps

  1. Insert a USB stick with your MD backup

  2. Perform a Controlled Start:

    • Cycle power

    • Hold PREV + NEXT

    • Enter 3 → ENTER

  3. Navigate: MENU → File → F5 [UTIL] → Set Device

  4. Access backup folder

  5. Select Restore Type:

    • System files, TP programs, Application, etc.

    • Or choose All of above

  6. Confirm and start the restore:

    • Press F4 YES

  7. Perform Cold Start

    1. FCTN → Start (COLD)

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