[jmor158]

I am trying to use a Fanuc arm to conduct a WAAM project to manufacture a small object. I have taken the .stl of the object and put it into Slic3r to obtain a .gcode.

I then put the .gcode into my robot station and generated a robot program (while selecting the built in Fanuc R30i Post Processor.)  After obtaining the robot program via a .LS file i went to upload it onto the robot's teach pendant via USB. 

As i tried to load the file from the USB to the pendant I received the errors:
TPIF-218 UT1:\myfilename.LS failed to load
ASBN-002 Error occured during load
ASBN-008 file 'myfilename'
ASBN-009 on line 52 column 23

Here is the line in the .LS file that is giving the teach pendant trouble:
UF : 9, UT : 9,        CONFIG : 'N U T, 0, -1, 0',

the "-1" is what is causing the issue. here is the cluster of code that surrounds it to give a better idea of whats happening 
P[19]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, -1, 0',
X =   927.716  mm, Y =     9.506  mm, Z =     0.800  mm,
W =   180.000 deg, P =     0.000 deg, R =  -180.000 deg

I am fairly confident that the "-1" is what is causing the issue because there are plenty of clusters of code before this one that are very similar, however they have "N U T 0 0 0" and did not get flagged for errors. If I manually fill in a 0 manually to the column with the -1 issue, the code just runs to the next line which also has a -1 in that spot and the error pops up again, preventing the code from loading to the pendant. 

1. What does this line mean and is it important? 
2. If it is not important, what parameter in RoboDk can i change to omit this type of line or error?
3. If this line is important, why does the robot not accept it and how can I change it to fix it?

Thanks in advance.

[Sergei]

If you can share your station, we can better understand the cause of this issue

(N U T, 0, -1, 0) - the necessary arm configuration parameters
(-1) - J4 axis turn

[jmor158]

If you can share your station, we can better understand the cause of this issue

(N U T, 0, -1, 0) - the necessary arm configuration parameters
(-1) - J4 axis turn

[Sergei]

You can use the following optimization settings to make the arm more 'stable' during movement:

   

You will always have the configuration (N U T, 0, 0, 0).
I attached the modified station.