Working with the Tend platform

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Cellmate Installation

Network Requirements

The Cellmate requires a TCP/IP connection to the robot using a physical cable or wifi.

Tend requires the following ports to operate:

  • 443 TCP – Used to connect securely to using Transport Layer Security.
  • 123 UDP – For NTP time synchronization.
  • 53 UDP – For DNS name resolution.

The Cellmate will rely on DHCP for IP address assignment, and it must be on the same network as the robot in order to monitor the status of the robot and retrieve logs. If you require a static IP, please contact us.

A typical setup includes an ethernet switch with 4 ports in each cell:

  1. Connection to local network or connectivity to the internet
  2. Connection to PLC (not required)
  3. Connection to Robot
  4. Connection to Cellmate

In addition to, or as an alternative to a physical connection, the Cellmate can use wifi for network connectivity.

How to turn on wifi in the Cellmate

To enable wifi support, remove any network cables from the device and power it up. It will automatically create a new wifi network called Tend Cellmate. If the network doesn’t appear, you may need this USB wifi adapter.

Connect to the Cellmate’s network and access the webpage that it is serving (usually on This will allow you to select a wifi network and provide a password for the Cellmate to connect to it with.

How to configure a static IP

Note: If you decide to use a static IP for the Cellmate, be sure the network has access to the internet. Otherwise, you must add another network connection, either through wifi or by attaching this USB ethernet adapter. Also, the static IP will be assigned to the built-in ethernet port, so you should use the other port (USB or wifi) for internet connectivity.

Click on ‘Edit Cellmate’ from the Cellmates page:

Edit Cellmate Form

Here you can specify the details of the IP configuration for the device.

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Hardware Mounting

The Cellmate includes a DIN rail 35mm clip for mounting. The device is powered by 20.4V – 28.8V DC.

If the digital I/O features are used, an additional board is provided that provides access to the I/O pins in the Cellmate.

Tend Cellmate


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Working with Fanuc Robots

Robot Troubleshooting

If the system is unable to communicate with a robot, it is most likely a networking issue. Here are a few things to try to identify the cause of the problem:

  • Verify that a computer can ping both the sidekick IP and the robot IP. This verifies that both devices are on the same network subnet.
  • Double check the network configuration page of the robot. If the robot is configured to use DHCP, the IP may have changed recently.
  • Try to navigate to the robot’s web server page by going to http://[add IP address of robot here] – this will confirm that the robot is accessible. If you see a prompt for authentication, please contact us.

To diagnose the status of a robot failure, navigate to the page to find the robots configured in the system.

Each robot has a View Logs button that will pull diagnostics from the robot and display them in a tree format.

Also, the robot detail page will show a timeline of events that will provide more detail if you click on an item in the activity log:

Refer to the robot documentation to diagnose the cause and remedy for alerts displayed here.

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Fanuc alarms occur at a future time

If you are seeing alarms that occurred in the future (ie. ‘one hour from now’), this usually indicates the time settings on the Fanuc are incorrect. This may happen due to daylight savings time, for instance.

To fix the clock time on the Fanuc:

  1. Press ‘Menu’ button
  2. Select 0 -- NEXT -- by pressing the 0 key
  3. Select 6 SYSTEM by pressing the 6 key
  4. If you are not in the SYSTEM Clock page press F1 followed by 1 to select it
  5. Press F4 to ADJUST the clock.
  6. Navigate with arrow keys and change the values as appropriate.

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How to Configure Fanuc User Alarms

Tend has the ability to send notifications on standard Fanuc alarm severity codes, such as STOP, SERVO, WARN, ABORT, SYSTEM, MOTN, and non-standard events like program state changes.

In addition, you may configure custom User Alarms that will trigger notifications for any event, such as changes in Digital I/O.

Follow these steps to create User Alarms:

  1. Press MENU on the keypad
  2. Select 6 Setup by pressing the number 6 on the keypad
  3. Press the F1 |TYPE| button
  4. Select 9 User Alarm by pressing the number 9 on the keypad

At this point you should be in the Setting/User Alarm page. There are ten (10) user alarms that can be added.

  1. Select the alarm you wish to edit by using the up and down arrow keys.
  2. Press the ENTER key on the keypad to begin editing the alarm message
  3. Edit the alarm message
  4. Press the ENTER key on the keypad to save the alarm message

Changing the Alarm Severity

The default alarm severity for User Alarms is STOP.L which means Stop Local and is designated by the number 6. There are other useful codes that can be selected:

Severity Number
NONE 128

To change the alarm severity follow these steps:

  1. Press MENU on the keypad
  2. Select 0 -- NEXT -- by pressing the number 0 on the keypad
  3. Select 6 SYSTEM by pressing the number 6 on the keypad
  4. Press the F1 |TYPE| button
  5. Select 2 Variables by pressing the number 2 on the keypad
  6. Press ITEM on the keypad and enter the number 686 which should take you to $UALRM_SEV
  7. Press ENTER on the keypad

At this point you should be at the SYSTEM Variables - $UALRM_SEV page. There are ten (10) user alarms severity settings that can be changed.

  1. Select the alarm severity you wish to edit by using the up and down arrow keys
  2. Press the ENTER key on the keypad to begin editing the alarm severity
  3. Edit the alarm severity by entering an integer from the table above
  4. Press the ENTER key on the keypad to save the alarm severity

Adding a User Alarm to your Program

Adding an alarm to your program requires these steps:

  1. Press SELECT on the keypad
  2. Navigate to the program you wish to edit and press ENTER
  3. Move to an empty line (or add empty lines)
  4. Press NEXT on the keypad
  5. Press F1 [INST] on the keypad
  6. Select 8 --next page-- by pressing the number 8 on the keypad
  7. Select 1 Miscellaneous by pressing the number 1 on the keypad
  8. Select 2 UALM[ ] using the arrow keys and press ENTER
  9. The text UALM[..] should appear on the line you selected previously
  10. Press F5 [LIST] on the keypad
  11. Navigate to the user alarm you wish to use and press ENTER

The alarm should now be added to the program.

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