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FANUC PNS Program Select Made Easy

What is FANUC PNS?

The PNS Program select is one of the options that can be used to select and start a FANUC Robot TP Program in Auto Mode from an external device (PLC or HMI). The feature utilizes the UOP Inputs bits for the selection and starting of the program and then UOP Output bits for confirmation the program has been selected.

I wasn’t able to find many great sources or examples when I was looking to use this method causing me to use trial and error to figure it out. I hope this article helps to clear up any confusion.

Below are the FANUC UOP input and output bits along with descriptions for reference:

FANUC UOP Output Signals

FANUC UOP Input Signals

How PNS Program Select Works

UI[9 – 16] are used to create an 8 bit binary number that the robot can use to find and select the referenced program.

  • UI[9] is the least significant bit (LSB) or rightmost bit in the binary number
  • UI[16] is the most significant bit (MSB) or leftmost bit in the binary number

Binary Example

The referenced program name needs to follow the naming convention of “PNSxxxx” (Example: PNS0001)

Examples of Programs Selected Based on Values of UI[9-16]:

  • If only UI[9] is on, PNS0001 would be the program selected
    • This is because 00000001 = 1
  • If only UI[10] is on, PNS0002 would be the program selected
    • This is because 00000010 = 2
  • If only UI[9] and UI[10] are on, PNS0003 would be the program selected
    • This is because 00000011 = 4

Example Conversion

Example Sequence of Operation:

  1. Make sure UO[1] CMDENBL is high
    • CMDENBL requires the robot to be in auto mode, remote mode, and have no faults (otherwise you will not be able to select a program)
  2. Set desired bits to be high out of UI[9 – 16]
  3. Toggle UI[17] PNSTROBE to set this program as the selected program
  4. UO[19] SNACK will pulse when UI[17] PNSTROBE is toggled, this can be used as a handshake to confirm the program was actually selected
  5. UO[11 – 18] can be used as a confirmation that the correct program has been selected
    • They will echo the UI[9 – 16] bits once UI[17] PNSTROBE has been toggled
  6. UI[18] PROD_START can be triggered to run the selected program

PNS Timing Diagram for Reference:

February 28, 2023  Pete VanCamp 

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