Failed to prepare for control

If you receive the error message "Failed to prepare for control", please check the following steps:

1. T1 mode is not selected in the FANUC Teach Pendant. Please select it.

2. If t1 is selected on Fanuc Teach Pendant, PNS0099 is waiting for the Digital Output DO[3] to be ON, which means that the mapping of the selection mode T1 is not working properly and that is why you get the message on the Mirai Training App “Failed to prepare for control” that means you get the messages “Starting Prog 99 failed” and “Robot not in t1 mode” in the USER window of the Teach Pendant.

If this happens, please check if the configuration of the variable $CR_T1_DO for selection mode is set to 3, as shown in the image below.

• To go to this menu please select [MENU]
• Select [System]
• Select [variables] and search for the name of the variable.

If it is not set to 3, please type 3 to perform the change and cycle power the controller to save the changes.

Another way to set DO[3] = ON is on [Menu] -> [I/O] -> [Digital] -> [Digital output], if it is OFF then please set it to ON.

3. Another possible situation could be that the Deadman switch is not held during the use of the Mirai training App.

4. PNS0099 program is missing: You can check for this program in the menu of the programs by selecting the key [SELECT] from the Fanuc Teach Pendant keyboard. If it is not there, please load the program from the USB that Micropsi sent together with the box. A Cold Start in Fanuc contis enough to load the program.