How to Configure 1kHz Mode

The motion control rate of the fanuc_driver can be increased up to 1kHz.

This page describes how to configure 1kHz mode.

System Requirements

FANUC Robot Controller Hardware

• R-50iA series controller

Software Options

• S647 STMO/HSPD COMM ADD-ON

Note

S647 has several limitations.

• Some software options cannot be installed simultaneously with S647.

• Some robot models do not support S647.

Please contact your FANUC sales representative to verify whether your robot configuration supports S647.

Configuration

FANUC Robot Controller

1. Open the Stream Motion screen.

2. Set High Speed Communication to ENABLE.

3. Restart the robot controller.

4. Confirm that Communication Interval is displayed as 1 on the screen.

ROS 2

• Set update_rate to 1000Hz or larger in ros2_controllers.yaml.

• Set out_cmd_interp_buff_target to 1 in fanuc_hardware_interface/robot/*.urdf.xacro to minimize communication latency.

Note

• 1kHz mode requires either a real-time kernel or a sufficiently high-performance PC to ensure stable operation. If high jitter is overserved from the PC causing the robot to drift or vibrate, please increase out_cmd_interp_buff_target or disable High Speed Communication to use a lower update_rate.

• On collaborative robots, speed clamping introduces additional latency. This latency can be avoided by disabling the speed clamping function by I/O. Refer to Collaborative Robot Function Manual for details.