Fanuc RoboGuide Overview Basics and Robot Jogging

By: Matthew Jourden

Brighton High School
Brighton, MI

Fanuc RoboGuide is a virtual simulation software that acts as the digtital twin to the real world workcell. The software allows a
user to setup a robotic cell (work area), Robotic Arm, Peripheral Devices, imported parts and more to run/test industrial processes
prior to investing in building the real world workcell.

1. Open RoboGuide Software from Desktop or Start Menu

2. Main Screen

Workcell Templates: Generic Prebuilt

Recent Workcells:
work areas defined by the user.
Shows previously
Templates can be added on to and
opened Cells
saved as a new workcell

Teach Pendent: Power On with Toggle Switch By turning the Toggle Switch On. NOTE Boot up for the controller will take
some time

3. Select Open Cell > Navigate to This PC > Windows (C:) > My Work Cells > BHS Fanuc Robotic Arm Workcell Folder > Select
BHS Fanuc Robotic Arm Workcell File > Select Open
4. Robot Controller Screen will Appear; note this will take 3-4 minutes the first time the 1st time loading the Work Cell and
about 1 minute after that.

5. After Controller as loaded the screen will look as follows

 a. View, Object and Move To Functions appears at the top of the screen. It is possible to close this screen by clicking
on the x on the top left corner. This is not recommended when first starting off.

To reopen the menu > Press Mouse Command Icon

b. Test each of the View Functions: Moving around and Zoom In/Out around the Robot.

c. Orthographic and Isometric View(s): Select View Drop Down Menu > Place Cursor on Full Screen > Side Menu will
appear > Select Desired View

NOTE: Screen rotates based on camera location, so the Workcell may not appear on the screen initially > Pan (CTRL+
Middle Mouse Button) to re-center the workcell on screen or Select View Drop Down Menu > Select Full Screen > Zoom
In/Out on the Workcell

d. Return the View Screen to its default Orientation (Isometric) with the workcell Centered on the Screen
6. Teach Pendent: Is the device to allow the operator to operate/program the robot
a. Teach Pendants Connection: The Teach Pendants are the controller for the Fanuc Robotic Arm. RoboGuide comes
with a virtual version of the Teach Pendent or the user can attach an actual Teach Pendent that one would find on
the robot. For our Purposes students will use the actual Teach Pendent that one would find at the robot to get
comfortable holding and operating as if one was at the robot.
Virtual Teach Pendent Real World Teach Pendent

b. Plug in the Cord to an electrical outlet > Brown Box with Toggle Switch will turn the Teach Pendent On/Off
Switch Power On

c. USB Connection will go in to the 1st USB Port on the Front of the computer (NOTE: This USB Port must be used at
BHS because it has been assigned a specific IP Address for the Controller to read

d. Teach Pendent On/Off Switch

Switch to On
Position
e. Connecting:
i. Turn on the Toggle Switch from Step 6B
ii. Once the Network Data appears Press Next
NOTE: DO NOT Adjust any of the values

Press Next

iii. Computer Connection: Once the Computer Information Appears Press Next
NOTE: DO NOT Press Next if the computer data does not appear > Operator will need to power cycle if this
happens (Turn the Teach Pendent Off/On)

DO NOT Press Next until

Computer Data Appears

Press Next ONCE the

Computer Data is
shown

Teach Pendent Functions On/Off

 f. User will need to switch the Teach Pendent ON to be in Teach Mode and have the Emergency Shutoff Button NOT
depressed (Right Turn the Emergency Button to have it released)

Emergency Button

7. Teach Pendent Interface

NOTE: Teach Pendent Screen is a Touch Screen

Robot Status Bar:

Shows Robot
Settings and Faults
Jog Speed % based on
Teach Mode Selection

Display Screen: Changes based on

Softkeys: 5 Keys that will
selected Operation or Function
change function based on
selected Menus

Home Screen Button

Hardkeys: Keys with a

single function

8. Jogging the Robot

a. Coordinate System
i. There are different setups for moving robot based on a coordinate system or joint rotations. Each
coordinate system is setup based on the location of the robot’s origin, known as World. Robot Origin is
located at the intersection of the base of the robot and Joint 2. Operator has various control of the robot
and its location of the origin in which the robot will base its movements. Operator can set the robot into
one of the following movement types by pressing the COORD Key (Coordinate Key)

1. Joint: Most efficient method because it only moves the one joint at a time when selected
2. World: Default Frame and cannot be changed. Location of the origin is based on the robots base
and intersection of Joint 2. Robot will move all joints at once maintain the same tool orientation.
3. User: Operator may define the location of origin (I.E end of tooling or Start point of a pick and
place). All joint movements will be based on this one point not the World (Robot Origin)
4. Tool: Sets the Origin at the Tool Center Point (TCP), User would be required to set an offset for the
end effector that is mounted to the TCP, so the tooling does not crash through a part or work
surface.
5. JGFRM (Jog Frame): Set movement based on Jog/Joint movement in a specific Frame
ii. Setting Jog Frame: Repletely Select COORD Key until the word JOINT appears next to the percentage speed

Select COORD Key until

JOINT Appears at the Top
of the Teach Pendent
 b. Displaying Positional Data: Select POSN Key > Set to Joint
NOTE: Default View is Joint showing the Degrees of each Joint Location. World will show Linear Distance of X, Y, Z
and Rotational Degrees of X (Yaw), Y (Pitch), Z (Roll)

Select POSN Key to Show

Positional Data

c. Clear Faults: In the Top Right Corner of the Teach Pendent Fault/Error Messages will appear in RED > Faults needs
to be cleared before the robot can resume Teach or Production Modes.

Hold Deadman in Middle Position + HOLDS Select Key + Press Reset to Clear All Faults
NOTE: User should feel 2 Clicks when the Deadman switch is pressed > User needs to place the Deadman switch at
the first click.

NOTE: DO NOT let go of the Deadman in the MIDDLE Position or Faults will reappear
and need to be cleared each time
d. Robot Speed in Teach Mode: T1 Teach Mode has a max speed of 250 mm/sec; Operator can set a speed
percentage factor of T1 Teach Mode. Note Speed will change by 5% until below 5% then by 1 and final to modes
Fine and VFine which make the robot move hundredths and thousandths of a mm
NOTE: Holding Shift + the +% or -% will make the settings change by 50
i. Select +% or - % Key to set speed at 25%

Robot Speed
percentage of
Teach Mode

Press + % or - % to set
speed

e. Robot Orientation and Joint Types

RIGHT HAND RULE for World Frame (Origin)

When Facing the Robot to Determine Axis Polarization +/- Direction

X = Forward (-) to Back (+)

Y = Left (-) and Right (+)
Z = Down (-) and Up (+)

X,Y,Z Joint Jog Mode Reference when facing the Robot

X = Left (-) to Right (+)

Y =Towards User (-) to Toward User (+)
Z = Down (-) to Up (+)
f. Jog the Robot in the following Ways
NOTE: Be sure to Hold Deadman in the Middle Position + Shift + Direction of Movement
Observe the Joint Values Change
i. Joint 1 (X Linear) +/-
ii. Joint 2 (Y Linear) +/-
iii. Joint 3 (Z Linear) +/-
iv. Joint 4 (X/Yaw (W) Rotation) +/-
v. Joint 5 (Y/Pitch (P) Rotation) +/-
vi. Joint 6 (Z/Roll (R) Rotation) +/-

g. Change POSN Data to world > Jog the Joints again > Observe the Joint Values change

h. Change Jog Speeds to and Test using Jog Mode: Joint

i. VFine
ii. Fine
iii. 50%
iv. 100%

Continue on Next Page

i. Jog Mode: World
i. Change the following
1. Jog Mode to WORLD: Press COORD Key until WORLD Appears at the top of Screen next to
Jog%
2. Jog% = 50%
3. Positional Data: Select POSN Key > Select Softkey World

Set to Jog to World

Select COORD Key to

change Job Modes

NOTE: Be sure to Hold Deadman in the Middle Position + Shift + Direction of Movement
ii. Joint 1 (X Linear) +/-
iii. Joint 2 (Y Linear) +/-
iv. Joint 3 (Z Linear) +/-
v. Joint 4 (X/Yaw Rotation) +/-
vi. Joint 5 (Y/Pitch Rotation) +/-
vii. Joint 6 (Z/Roll Rotation) +/-

j. Change POSN Data to world > Jog the Joints again > Observe the Joint Values change

k. Change Jog Speeds to and Test using Jog Mode: World

i. VFine
ii. Fine
iii. 50%
iv. 100%

l. While Jogging do the following Actions

i. While Jogging Let go of the Deadman Switch
ii. While Jogging Press More than one Joint Key
iii. While Jogging Release Shift Key