Teach pendant programming
Adding a Wait Instruction on a FANUC Teach Pendant
Adds timed and conditional WAIT instructions in a FANUC R-30iB TP program to synchronize the robot with external equipment.
Identify the synchronization point
Determine the exact line in the program where the robot needs to pause until a condition is met.
Open the instruction menu
On the pendant, go to the instruction editor and select the wait instruction category.
Choose a timed or conditional wait
Select a fixed time delay, or a wait for a specific digital input or register condition.
Configure the condition
Set the specific input number and expected state, or the time in seconds, for the wait to satisfy.
Add a timeout if supported
Where available, set a maximum wait time with a defined fallback action so the program does not hang indefinitely.
Test the wait behavior
Run the program in test mode and confirm it pauses and resumes at the expected point. Before running, confirm the cell is clear and all personnel are outside the guard.
Common questions
- How long does this procedure take?
- Adding a Wait Instruction on a FANUC Teach Pendant is rated Basic and takes about 10 minutes across 6 steps.
- What tools do I need?
- You will need Teach pendant.
- What should I do before starting?
- Relevant digital I/O signal is already configured, if the wait depends on a signal.
- What is the first step?
- Identify the synchronization point. Determine the exact line in the program where the robot needs to pause until a condition is met.