> For the complete documentation index, see [llms.txt](https://support.robominds.de/manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://support.robominds.de/manual/robots/robot-interfaces/fanuc/fanuc-workspace-setup.md).

# FANUC: Workspace setup

Creating a workspace with the robobrain® system and a FANUC robot.

To set up a workspace (region of interest) for the robobrain® system you need to create an auxiliary robot program. This is necessary because the robot does not push its current pose by itself. 

{% hint style="warning" %}
The pose sent by the robot is saved in the robobrain® system for 10 seconds. 
{% endhint %}

<pre><code>
<strong> 1:  LBL[1]  
</strong> 2:  CALL RB_VISION(CONNECT)
 3:  CALL RB_VISION(SET ROBOT POSE)
 4:  WAIT 2.00(sec)  
 5:  CALL RB_VISION(CLOSE)  
 6:  JMP LBL[1]
[END]
</code></pre>

{% hint style="info" %}
The .ls-file for this program is also provided a .zip-folder in the [Downloads](/manual/robots/robot-interfaces/fanuc/fanuc-downloads.md).
{% endhint %}

The program consists of 3 different parts:&#x20;

1. "Open" the connection to the robobrain® system.
2. Call the function "set robot pose" and put a wait directly after. The wait-function is used to reduce processing capacity.&#x20;
3. Loop the program part where the pose is sent.

{% hint style="success" %}
You can now [create a workspace](broken://spaces/BX567dPaVfkTXAmyt3sl/pages/1nXvj4iYNnviWSGHngB2) in the robobrain® HMI. &#x20;
{% endhint %}

<figure><img src="https://660378187-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FbfPmWtourffXBtJHjy1q%2Fuploads%2Fr7etz9M4b3ioR7NFWc52%2Fz-Parameter%20(1).png?alt=media&amp;token=155fbe61-460d-4dbe-8707-aa56aa977a03" alt=""><figcaption><p>Example robot pose for workspace determination. </p></figcaption></figure>