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Robot Software Options

With more than 250 software functions for enhanced intelligence, motion, safety and productivity, we give you the power to make your robots see, feel, learn and keep you safe.

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FANUC robot software products include dedicated functions, simple to use interfaces and exclusive features to simplify and standardize robot programming. These features and benefits allow FANUC users to quickly and easily get their robots up and running at maximum productivity.

4D Graphics

The 4D Graphics option allows a 3D graphics processing engine in the iPendant to display the robot, tooling, parts, and other cell components in 3D desktop quality graphics. When coupled with the robot controller internal data, the teach pendant displays invisible data in the robot as the 4th dimension of information.

Advanced DCS Package

The Advanced DCS Package includes the most popular and most frequently used safety options and the powerful 4D Graphics option in a single, cost-effective package.

Advanced EIP Package

The Advanced EIP (Ethernet/IP) Package includes the most popular and most widely used communication options. It includes: Ethernet/IP Adapter, Ethernet/IP EDA, PC Remote iPendant, HMI Device, and Remote iPendant options in a single package. This option is recommended for FANUC Robot interface to a Rockwell GuardLogix, or a CompactLogix PLC.

All Smooth Stop

When All Smooth Stop is specified, the stop type of the specified alarms becomes Stop Category 1 in all operation modes (AUTO, T1 and T2 mode).

Arc Production Monitor

The Arc Production Monitor option is used with the Lincoln Power Wave welding power supplies that support the Lincoln Production Monitoring™ and CheckPoint™ cloud server-based monitoring feature. This option adds support for Weld Profile Selection, Part Serial Number Setting, Production Monitoring error handling, WeldScore™ display (included with the Analog Meter Option), Proxy Server Support (included in R558–Internet Connectivity & Customization Option), Wire usage Monitor Setup.


The ArcTool application software package provides a unique process solution for robotic arc welding.


The ArcTorchMate option provides a cost effective, easy-to-use solution for automatic adjustment of the Tool Center Point (TCP) on single motion group systems, or for systems that incorporate the MultiARM feature (two or more robots controlled by a single controller).

Auto Backward Exit

Auto Backward Exit (R861) allows a robot to start recording its path at a certain point in a program, and accurately move backward (bwd) along the recorded path to return to the original start point under program control.

Basic Process Axes

Basic Process Axes allow you to configure and operate a servo motor or motors independent of any motion group using either group inputs or two special teach pendant instructions. This option is recommended for driving conveyors, spindles etc., with an auxiliary servo motor. A process motor has the following characteristics: The axis accepts only speed commands, the axis position cannot be commanded directly, and the axis does not belong to any motion group.

Basic Remote TCP

The Basic Remote TCP (RTCP) option includes RTCP frame, RTCP Jogging and RTCP Motion. RTCP is recommended for applications in which the robot controls the orientation of a workpiece around a fixed tool in the workcell. RTCP frame is defined first before the RTCP option is used to jog the robot or include RTCP motion in a robot program.

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Collision Guard

Collision Guard provides a highly sensitive method to detect that the robot has collided with an object and then stops the robot immediately. This helps to minimize the potential for damage to the end-of-arm tooling and robot. Collision Guard is effective for both program and jog motion.

Constant Deposition

Constant Deposition is a control technique to keep the wire deposition rate constant during welding. It matches the filler wire feed rate to the robot motion. The wire feed speed is adjusted as the robot speed varies due to acceleration, deceleration, or programmed speed changes.

Constant Path

Constant Path allows the robot to maintain the same path regardless of static or dynamic speed override changes. A path that has been taught and tested at a low speed override will be maintained when the program is executed at 100% override.

Custom Weave

Custom Weave allows you to create a custom weave pattern for specialized welding applications.

DCS Safe I/O Connect

DCS Safe I/O Connect is used to read and set safety inputs and outputs.

Dual Drive Synchronization

The Dual Drive Motor Axis feature allows synchronized operation of two motors (a master & a slave). The main function of the Dual Drive feature is to compensate for the synchronous error between the master and slave axes.

EtherNet Global Data (EGD) I/O

Ethernet Global Data (EGD) allows exchange of I/O over Ethernet to other devices, such as robots and the GE Fanuc 90/30 PLC, which support the EGD protocol. EGD uses UDP/IP and is based on a Client-Server model. EGD can be configured to exchange up to 256 bytes of I/O.

Enhanced Mirror Image

The Enhanced Mirror Image option allows you to translate an entire teach pendant program or portion of a teach pendant program to mirror-image the original programmed points.

Enhanced Vision Ethernet Port

The Enhanced Vision Ethernet Port provides a limited function Ethernet port which supports FTP (file transfer), user socket messaging, and HTTP (web) functionality.

Error Code Output

The Error Code Output Option allows you to send controller error codes to another device (such as a PLC), as numeric values.

Extended Axis Control

The Extended Axis Control option allows you to set up a FANUC servo motor to the robot motion group. Total (including robot axes) of up to 9 axes can be set up in the robot motion group. These FANUC motors are typically used to drive a Robot on a Robot Transfer Unit (RTU), operating a Servo Gripper at the robot wrist or operating other positioning/rotating devices.

External Mode Select

External Mode Select allows SAFE I/O to [select] the operating mode (AUTO, T1 or T2) [from] a remote device in place of the mode switch on the operator panel

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External Vision Interface (EVI)

While FANUC iRVision is an extremely capable fully integrated 2D/3D machine vision system, FANUC recognizes that machine vision technology is rapidly accelerating and wants its customers to be able to take advantage of any technology that enhances the value of a FANUC robotic system. The External Vision Interface (EVI) is an option that allows a FANUC robot controller to connect easily with any Machine Vision System (MVS) using Ethernet socket messaging. FANUC EVI provides standard KAREL macros

Fault & Incident Reporting

The Fault and Incident Reporting option displays the error reporting log. Problem areas can be identified by viewing a bar graph that shows the top five faults by incident, longest time, and total time. The graph only shows faults that occur during production and sorts out repetitive faults that were not fixed.

Flexible Pressure Control Function

The Flexible Pressure Control option adds features to FANUC’s already powerful servo gun control software to help customers perform custom pressing sequences with their servo driven linear actuators. Newly added functions include ability to seamlessly switch between force and position control modes, plotting and analysis of torque versus position curves, and ability to define a custom TP programming instruction that manages the entire pressing sequence.

Fronius Weld Equipment Library

The Fronius Weld Equipment Library Option (R653) allows you to configure ArcTool to communicate with Fronius arc welding power supplies that have different hardware and software interfaces.

Heat Wave Sync

Heat Wave Sync (R799) provides a method to improve control over welding arc energy distribution across the weld by synchronizing weld schedules with the torch weave position.

High Accuracy Line Tracking

The High Accuracy Line Tracking option (R884) improves tracking accuracy by enhancing the robot’s response to conveyor velocity change.

HMI Device (SNPX)

This function allows an HMI Device to monitor and control data remotely [from] within a robot controller. The robot communicates with the remote HMI by using the same drivers and addressing as a GE Fanuc Series 90 PLC.

Intelligent Interference Check (IIC) for Arc

IIC (Intelligent Interference Check) for Arc (R872) is an option, enhanced [from] Intelligent Interference Check (R759), specifically to satisfy the needs of Arc Welding applications.

iRCalibration Frame

iRCalibration Frame Shift, formerly CellCal, is a calibration option that compensates for frame changes by establishing a MASTER frame that runs a frame search teach pendant program. After the frame is changed, iRCalibration Frame Shift runs the same frame search teach pendant program again and computes the frame offset.

iRCalibration Vision Axis Master

iRCalibration Vision Axis Mastering recovers the mastering status that can be lost during maintenance such as during motor replacement. It uses vision to align the target marks on the robot.

iRCalibration Vision Master Recovery

iRCalibration Vision Master Recovery recovers mastering data by automatically measuring the target with the camera before and after motor / reducer replacement.

iRCalibration Vision Mastering

iRCalibration Vision Mastering improves robot accuracy by automatically measuring a fixed target (using a camera attached to the tool tip of a robot) while changing the posture of the robot. It adjusts axes J2 through J5 mastering data and J2 through J6 axis spring constants. The spring constants can be adjusted only when the Gravity Compensation Function (used as an optional function) is enabled.

iRCalibration Vision MultiCal

iRCalibraton Vision Multi Calibration uses iRVision hardware to find coordinate frames between multiple robot arms. Vision Multi-Cal defines the relationship between two robots, or between a robot and a positioner coordinated by a single controller.

iRCalibration Vision Shift

iRCalibration Vision Shift has two separate functions. 1. Easily modifies the taught positions of a program if the system is moved or reinstalled. 2. Easy modification of the positions of a robot program created with the offline programming system on the factory floor.

iRCalibration Vision TCP Set

iRCalibration Vision TCP Set automatically sets the tool center point (TCP) of the robot using a camera.

iRPickTool /Efficiency Tools

iRPickTool /Efficiency Tools allow for increased productivity, and reduced down time by only picking reachable parts on the conveyor.

iRVision 2D Guidance

The iRVision 2D package is used to locate workpieces that shift in 2 dimensions. The workpieces can shift in parallel to the work surface (X,Y) and rotate on the work surface (Roll).

iRVision No-Cal

iRVision No-Cal allows an iRVision camera to be used to locate parts without the need to calibrate the camera, or define any user frames or tool frames.

iRVision 3D Multi-View

The 3D Multi-View Vision Process measures multiple points of a workpiece for its 3D position and posture using four 2D cameras, and provides compensation for robotic handling of the workpiece.

iRVision 3DL

The 3D Laser (3DL) Vision Process measures the 3D plane of a workpiece and provides a 3D offset for compensating the robot.

iRVision Bar Code Reader

The Reader Vision process reads 1 and 2D bar codes.

iRVision Bin Pick

The iRVision Bin Picking option allows the vision system to recognize the position and posture of each of the parts, which are randomly placed inside a container, and the robot to pick up those parts one by one. Uses Interference Avoidance to prevent collisions between the robot/gripper and the bin walls.

iRVision Client

The iRVision Client allows the robot to interface with vision hardware. Coordination between the vision hardware and software depends on the software version installed.

iRVision Inspection

The iRVision Inspection option (formerly Error Proofing) supports a wide variety of vision tasks including object or feature measurement, presence/absence, defect detection, surface flaw checking, color analysis, and many others. iRVision Inspection can function alone, or in combination with other iRVision processes like 2D or 3D guidance (available separately).

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The KAREL option is required to run any customer KAREL programs in FANUC robots. KAREL is a powerful programming language that allows you to access and control all aspects of the FANUC robot, except motion.

Math Funciton

The Math Function option provides additional instructions to the TP program editor allowing advanced math functions. SIN, COS, TAN, ASIN, ACOS, ATAN, ATAN2, SQRT, LN, EXP, ABS, TRUNC, and ROUND.

Menu Utility

Menu Utility provides the capability to develop many user interface functions for a robot program within minutes.

Miller Weld Equipment Library

The Miller Weld Equipment Library Option (R580) allows you to configure ArcTool to communicate with Miller arc welding power supplies that have different hardware and software interfaces.

Motion Package

The Motion Package includes the most popular and most widely used motion options. It includes: Collision Guard, Constant Path, ADV-CP Speed Control, ADV-CP Path Control, Singularity Avoidance, and Motion Interface options in a single package.

Multi UOP Interface

Multi UOP Interface (J964) provides independent UOP interfaces to support control of up to five programs.


The multi-equipment option permits the robot controller to control multiple arc welding power supplies simultaneously.

Multi-Group Motion

A motion group defines a set of motors and axes that are combined to accomplish a motion task. FANUC robots are an example of a motion group, typically Group 1. Additional motion groups are defined to control axes on a piece of equipment other than the robot. The maximum number of groups that can be supported by a controller is eight. Up to four robots can be added as motion groups to the system.


MultiARM provides close coupling of all robots through a single controller.

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PaintPRO software is a graphical offline programming solution that simplifies robotic path teach and paint process development. PaintPRO is specifically designed to create paths that can be utilized by FANUC America Corporation's PaintTool™ application software.

PaintWorks IV

FANUC America’s PAINTworks IV provides the necessary tools for an integrated paint shop control system. Offering centralized cell level control, PAINTworks IV interfaces with all paint system robots, reciprocators and bell zones. PAINTworks IV is also used with robotic sealing and dispensing systems offering a continuous control architecture for the entire paint shop. PAINTworks IV basic system control functions are process control, process monitoring and real time sequencing of cell activities

PalletTool Turbo II

The PalletTool Turbo II package (R871) is designed to reduce the setup of robotic palletizing applications pertaining to cases or bags with a software bundle which includes PalletTool 4D.

PalletTool Turbo Lite

PalletTool Turbo Lite provides a subset of functions supported on PalletTool Turbo II. This subset of functions provides an ideal order configuration that is available for CRX Collaborative robots only. It includes all functions necessary for effective palletizing. For CR Collaborative and non-Collaborative robots, use PalletTool Turbo II.

Payload Confirm

Payload Confirm is used to evaluate the robot’s payload setting accuracy. It is included in Payload Identification.

Payload Identification

Payload Identification (J669), available for most robot models, is used to estimate the robot payload automatically with the help of a built-in function. Payload Identification also includes Payload Confirm (J878) that is used to evaluate the payload setting accuracy with little robot motion.

PC Developer's Toolkit (PCDK)

The PC Developer’s Kit enables you to create Microsoft Windows® applications that communication information and instructions with a FANUC robot controller. The applications employ the high performance Robot Server and Robot Neighborhood which are exposed as a object oriented API s within the Visual Basic 6, VB.NET and C# development tools.

PC File Services

PC File Service Software provides a powerful file management capability for FANUC robots. It allows you to schedule the back up of robot application files to a PC. Both manual transfers and automatic/periodic schedules are supported.

PC Interface

The PC Interface option enables the controller to respond to PC applications written with PC Developer’s Kit (PCDK).

PLC Motion Interface

The PLC Motion Interface allows you to program R-30iB Plus robots using FANUC Add-On Instructions (AOIs).

Process Logger

Process Logger collects process-related application data. You can then use the teach pendant interface to analyze trends graphically to identify corrections to abnormal process behavior. Process Logger allows you to set thresholds on process items being collected, and post alarms if the item should fall out of tolerance.

R-30iB Plus iHMI Guides

The R-30iB Plus iHMI Guides promote unprecedented ease of use and easy setup.

Remote iPendant

The Remote iPendant option allows you to use an HMI such as a Tablet, as remote iPendant, including the ability to jog the robot in auto mode.


RemovalTool application software, and a force control device, provide you with a cost-effective solution for robotic surface and edge finishing applications.


PaintPRO software is a graphical offline programming solution that simplifies robotic path teach and paint process development. PaintPRO is specifically designed to create paths that can be utilized by FANUC America Corporation's PaintTool™ application software.

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WeldPRO allows users to simulate a robotic arc welding process in 3-D space. You can easily navigate through WeldPRO to create complete workcells by importing actual tooling and workpiece CAD files. Anyone familiar with programming a FANUC robot will be able to easily create new weld paths with proper torch angles and process parameters. All programs and settings [from] the virtual workcell can be transferred to the real robot to decrease installation time.

RSI Interface

Remote Sensor Interface (RSI) is a function that facilitates communication of position data, etc., with an external device such as a PC or 3rd party controller.

Servo Torch

ServoTorch is a fully-integrated, servo-controlled, wrist-mounted, four-roll (4) “Pull” wire feeder controlled by the ARC Mate® series robots. The design is optimized to feed aluminum and soft wire. Integration of the wire feed motor with the motion control of the robot results in a close coupling of the welding process.

Single and Dual-Axis Positioners

FANUC America’s Single and Dual Axis Servo Positioners are high performance positioners designed to provide a flexible, reliable, and cost effective solution to automation integrators for part and tool manipulation during application.

Singularity Avoidance

The Singularity Avoidance option allows a FANUC robot with an inline wrist to avoid wrist singularity automatically during Linear motion, therefore avoiding TCP slowdown during J4 & J6 high speed counter-rotation motions associated with wrist singularity.

SKS Weld Equipment Library (R864)

The SKS Weld Equipment Library Option (R864) allows you to configure ArcTool to communicate with SKS arc welding power supplies via an Ethernet IP connection to the SKS FB5 Fieldbus Interface.

Soft Float

Soft Float is used to compensate for variances in workpiece precision in applications where the robot is used to mount workpieces on a machine tool.

Spline Motion (R904)

Spline Motion defines a path that smoothly passes through taught points. The motion along the path maintains the programmed speed through curves unless mechanical limits will be exceeded.


SpotTool+ simplifies and standardizes the setup, interface, programming, operation, and maintenance of FANUC robots used in body shop applications, including spot welding, stud welding, dispensing, and material handling. Built-in functions typical to body shop applications are provided, allowing the user to teach positional data and logical sequences easily using familiar terms and menu commands.

Stream Motion

Streaming motion option allows for an external device to perform path trajectory planning, streaming the path trajectory to the robot in near-real time, allowing for highly flexible and dynamic applications.

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Thick Plate Weld Package

Combines the options of Touch Sensing and Through Arc Seam Tracking into one convenient option.

Thru Arc Seam Tracking

Thru Arc Seam Tracking (TAST) automatically adjusts the robot''s vertical and lateral trajectory to compensate for part warping or misplacement. Often used with Touch Sensing to find the start of the weld joint, TAST measures feedback current and adjusts the robot''s path to keep the weld in the joint center.

Torch Guard

Torch Guard is a set of options that are used to perform accurate arc welding.

Torque Limit

The torque limit instruction allows you to limit the maximum torque value of a specified aux motor or motors of the robot axes.

Touch Sensing

Touch Sensing uses a sensor, such as a laser sensor, to provide non-contact compensation for part displacement by changing a weld path automatically, eliminating the need to touch up points manually.

Touch Skip

Touch Skip can be used to perform a SKIP automatically when disturbance torque exceeds specified limits due to an unexpected robot collision.

TP Mode Select

TP Mode Select allows you to [[select]] the operating mode (AUTO/T1/T2 or AUTO/T1) directly [from] the Teach Pendant screen.

Tracking Jog

The MultiARM Tracking Jog feature simplifies the teaching of MultiARM programming.

User Socket Messaging

User Socket Messaging allows you to use TCP/IP socket messaging [from] KAREL. Socket Messaging enables data exchange between networked robots and a remote computer via TPC/IP Sockets.

Versabell III

FANUC America’s VersaBell III Paint Applicator is an electrostatic rotary atomizer designed for high performance, robotic bell spray applications. This “versatile” device applies a variety of solvent-based automotive top coat materials with an adjustable small to large painting pattern.

Vision Support Tools

Vision Support Tools is a grouping of tools for advanced vision applications.

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