FANUC Material Handling

Deadman Switch (3-pos)

Safety switch: Center position = Move; Fully squeezed or released = Stop.

Cold Start

Procedure: Turn power ON while holding SHIFT and RESET to reload system files.

JOINT Coord System

Moves individual axes (J1,J2,J3…) regardless of the tool position.

WORLD Coord System

X,Y,Z motion relative to the fixed center point of the robot base.

TCP (Tool Center Point)

The mathematical point at the end of the tool that the robot tracks.

6-Point Method

Used to define a Tool Frame (X,Y,Z) plus the orientation (W,P,R).

User Frame

A custom X,Y,Z grid set on a workspace (like a table) to keep points relative.

Singularity

When Axis 4 and Axis 6 align, causing the robot to freeze or error.

CNT (Continuous)

Motion termination that "rounds" the corner to keep speed high.

FINE

Motion termination that forces the robot to stop precisely at the point.

Payload Setup

Setting the mass, center of gravity, and inertia to prevent motor strain.

Step Mode

Allows the programmer to run the program one line at a time for testing.

F-Number

The robot's unique "VIN" found on the base plate or controller door.

Payload

The weight setting that tells the robot how much mass is at the end of the arm to prevent motor strain.

DI / DO

Digital Input/Output: 24V signals for simple on/off communication.

RI / RO

Robot Input/Output: Signals routed through the EE connector on the arm.

Group I/O

Multiple digital bits combined to represent an integer value.

I/O Simulation

Software override to test code logic without physical sensor signals.

LBL [x]

A "bookmark" in the code used as a target for JMP instructions.

JMP LBL [x]

An unconditional "jump" that moves the cursor to a specific Label.

CALL [Prog]

Executes a sub-program and returns to the next line in the main program.

Registers (R)

Used to store numbers for counting or math-based decisions.

Position Reg (PR)

Stores a set of coordinates that can be used by any program.

WAIT [Time]

Pauses the robot for a specific number of Seconds.

WAIT [Signal]

Pauses the robot until a DI/DO condition is met (e.g., WAIT DI[1]=ON).

Macro Assignment

Linking a program to a physical button (like the Blue "UK" keys).

SRVO-062 (BZAL)

Battery Zero Alarm: Indicates loss of encoder backup power.

Pulse Reset

The RES_PCA command used to re-initialize encoders after power loss.

Zero Degree Master

Aligning all 6 axes with witness marks to reset the 0∘ position.

F6 [CALIBRATE]

The final step after mastering to update the controller's motion math.

Which instruction performs a multi-way branch based on a Register value?

SELECT

Which command pauses the robot until a Digital Input (DI) is ON?

WAIT DI[x]=ON

What is the purpose of a TIMEOUT in a WAIT instruction?

Generate an alarm

What does LBL[x] represent in a program?

A specific marker

Which operator is used for a basic 'equals' comparison?

=

What is the primary purpose of Program Control?

Decision making

What happens if a SELECT value has no match?

Continues to next line

How do you create an infinite loop?

JMP LBL[x] (pointing back)

How long does WAIT 5.00sec pause the robot?

5 seconds

What does the <> operator mean in an IF statement?

Not equal to