Famous_Fella

UPDATE: Thank you for your valuable help. I was able to to find the error but I dont really know how to overcome this. As the manual states any errors concerning the outcome of the function will be stored in ErrorIDEx variable which in my case returns 0900 0000 Invalid attribute value but there is also another variable called ErrorID which stores 1C00 which I guess I have to ignore for now,  as the cause of my failed message is the attribute value which I don't understand why as I have followed all the rules provided by FANUC's EIP Manual and vendor-specific list of services attributes etc etc  

Also one more question: My Robot's IP is 192.168.150.25. Why do I have to use 02\ before the IP ? I originaly extracted this from the W502 Omron Instruction manual

One more question: Is there a way to capture the response from the robot if something doesnt go as expected? I suppose this is done with RespServiceDat:=ResDat and after I run the command any response from the robot (server) will be recorded there, correct ? How can I monitor this variable in real time inside sysmac studio ?

I am in your dept ! :)

I appreciate your help a lot. I am starting to get the hang on it. As the manual states: "The robot controller is an explicit message server and supports connected and unconnected explicit messaging." So that means both message types can do my job. Please let me describe what I am trying to do. Any help will be more than welcome. What I want to do is use an explicit message to manipulate a numeric register of the robot. With the FANUC documentation on hand I managed to find the instance attribute and service I need in order to accomplish that. Write value integer 15 to Numeric Register R[15] Class 0x6B (it is the FANUC class for integer Register manipulation) Instance 0x01 (only 1 instance is supported) Attribute 0x15 (in the instance no. 1 each attribute represents 1 numeric register) Service 0x10 (Set_Attribute_Single Service) Value 15 can you help on the below ST? Unfortunately FANUC documentation states the service class and instance codes in HEX and I dont know how to declare them   ReqPath is _sREQUEST_PATH Data Type with initial value of (ClassID:=0, InstanceID:=0, isAttributeID:=False, AttributeID:=0) ReqPath.ClassID :=???; ReqPath.InstanceID :=???; ReqPath.isAttributeID:=???; ReqPath.AttributeID :=???; CIPUCMMSend_instance( Execute :=TRUE, RoutePath :='02\192.168.150.25',    //robot_ip TimeOut :=UINT#20, ServiceCode :=???, RqPath :=ReqPath, ServiceDat := ???, Size :=UINT#0, RespServiceDat:=ResDat);   Thank you in advance.  

Thank you very much for your reply. I have read the instruction manual showcasing the Communication commands that you descrbied but I do not know the difference between UCMM and class 3 messages. Can you please confirm the following assumptions ? 1) CIPRead/UCMMRead is used to read a variable of another PLC connected in the same ethernetIP network. Not needed for my case. 2)CIPWrite/UCMMWrite same as above but for writing a variable. 3)CIPSend instruction sends a class 3 CIP message to a specified device on a CIP network. Meaning my robot too in my case. what's the difference between the two ? which one would my robot controller respond to ? Would you advice using both ?