FANUC’s TP programming language and the teach pendant’s built-in editor are great tools. They allow relatively novice programmers to get up and running very quickly. Teach a couple points, throw in a couple labels and IF statements, and you’re off to the races. However, anyone who’s tried to do anything a bit more complex quickly realizes how cumbersome programming on the teach pendant is.

Navigating through multiple levels of menus to find the PAYLOAD instruction or creating an extensive mixed-logic conditional is really painful. At this point many programmers switch to programming.LS files by hand. Here’s the smallest program you can load onto a robot: /PROG A /ATTR However, it might be good practice to start with a template that includes all available sections: /PROG A /ATTR /MN /POS /END The /PROG section simply accepts the name of your program (letters, numbers and underscores only, and it must start with a letter) followed by an optional sub-type (e.g.

Macro, Cond, etc.). The /ATTR section stores the rest of the program header information: things like the creation date, comment, group mask, etc. If you choose not to include any of this, the robot assumes a sensible set of defaults. I’m not sure what /MN stands for (motion?), but this is where your program goes. You must start each line with a: and end it with a. You can optionally include a line number before the colon, but I think including line numbers in your source code is a tragedy. /PROG A /ATTR /MN:!

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This is a comment; 2:! Don't do this.

• I was with a customer earlier this week who needed a little help with one of their robots. It was a simple pick and place application, but for one reason or another, one of its placements had drifted and now the robot was fumbling that drop at overrides over 70%.

Pretty simple fix, right? Put the robot in teach, pick up a part and then step it through the place routine. • What do you think this line of code does? JMP LBL[9999]; If you’ve been programming FANUC robots for a while, you probably guessed that this statement jumps to the end of the program.

It comes in many variants: JMP LBL[999], JMP LBL[10000], etc., but the intent is almost always the same: end this routine. The problem is that there’s no guarantee that LBL[9999] or LBL[10000] or whatever actually ends the routine. • Have you ever looked at a TP program and gotten lost following all the LBLs and JMPs? Have you ever gotten lazy handling your WAIT-statement TIMEOUTs because you didn’t want to bother adding the extra stuff to your main routine? If you’re nodding “yes” right now, you should try isolating your WAIT-statements into their own small programs. In my eight-plus years of programming robots and troubleshooting other people’s code, I’ve found that a mess of labels and lack of refactoring large programs into smaller routines is the single biggest cause of issues.

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