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+---
+sidebar_position: 15
+title: FANUC manipulators
+---
+
+import fanucLocal from './assets/fanuc-local-detail.png'
+import fanucRemote from './assets/fanuc-remote.png'
+import fanucHI from './assets/fanuc-HI.png'
+
+# FANUC manipulators
+
+**TODO: Intro FANUC text**
+
+FANUC is one of the largest and most established industrial robotic manipulator manufacturers.  
+
+To use the FANUC collection, add `collections/fanuc` **v1.0.0** to your configuration in AICA Launcher, currently
+supporting the CRX-10iA. For more robot descriptions, please contact the AICA support team. 
+
+This guide and the provided drivers are designed for FANUC robots, adhering to the specifications provided with 
+the FANUC ROS 2 driver. Namely, for full compatibility the following are required:
+
+- Robot controller
+    - R-30iB Plus, R-30iB Mate Plus: V9.40P/81 or later
+    - R-30iB Mini Plus: V9.40P/77 or later
+    - R-50iA series: V10.10P/26 or later
+
+- Additional software options, one of the following:
+    - J519 Stream Motion and R912 Remote Motion
+    - S636 External Control Package, which includes the previous
+
+For more information, see the [official release instructions](https://fanuc-corporation.github.io/fanuc_driver_doc/main/docs/environment/system_requirements.html).
+
+:::warning
+
+As stated in the official page, J568 and J570 are no longer required.
+
+:::
+
+## Connecting to a robot
+
+Robot controllers usually provide multiple Ethernet ports. Make sure to connect to the one defined in the 
+`$STMO.$PHYS_PORT` system variable. If you do not know how to apply the necessary changes, contact the robot manufacturer
+or the AICA support team.
+
+Activate the robot control tablet and, if in Local, set it to Remote mode from the icon on the top right. 
+
+<div class="text--center">
+  <img src={fanucLocal} alt="FANUC tablet in local mode." style={{ width: '110px', borderRadius: "8px" }} />
+</div>
+
+This is how the tablet screen should look like, with the robot in Remote mode and ready to connect:
+
+<div class="text--center">
+  <img src={fanucRemote} alt="FANUC tablet in remote mode." style={{ width: '400px', borderRadius: "8px" }} />
+</div>
+
+:::note
+
+You might also need to confirm the payload the first time the controller boots.
+
+:::
+
+## Hardware interface
+
+:::tip
+
+For optimal performance, set the hardware interface rate to 125 Hertz. Depending the controller rate, this might
+be set higher. Consult with the original documentation or contact the AICA support team for more details. 
+
+:::
+
+<div class="text--center">
+  <img src={fanucHI} alt="FANUC hardware interface." style={{ borderRadius: "8px" }} />
+</div>
+
+Returning to AICA Studio and the hardware interface, it is now possible to define the parameters and connect to the
+robot:
+
+**TODO**
+- Robot IP: the address of the robot 
+- RMI port: the port of the FANUC Remote Motion Interface, used to set ? 
+- Stream Motion Port: the port to stream motion commands
+- Payload Schedule: ?
+
+Click **Start** to start the application and connect to the robot. 
\ No newline at end of file
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diff --git a/docs/core_versioned_docs/version-v4/examples/guides/fanuc-hardware-interface.md b/docs/core_versioned_docs/version-v4/examples/guides/fanuc-hardware-interface.md
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+---
+sidebar_position: 15
+title: FANUC manipulators
+---
+
+import fanucLocal from './assets/fanuc-local-detail.png'
+import fanucRemote from './assets/fanuc-remote.png'
+import fanucHI from './assets/fanuc-HI.png'
+
+# FANUC manipulators
+
+**TODO: Intro FANUC text**
+
+FANUC is one of the largest and most established industrial robotic manipulator manufacturers.  
+
+To use the FANUC collection, add `collections/fanuc` **v1.0.0** to your configuration in AICA Launcher, currently
+supporting the CRX-10iA. For more robot descriptions, please contact the AICA support team. 
+
+This guide and the provided drivers are designed for FANUC robots, adhering to the specifications provided with 
+the FANUC ROS 2 driver. Namely, for full compatibility the following are required:
+
+- Robot controller
+    - R-30iB Plus, R-30iB Mate Plus: V9.40P/81 or later
+    - R-30iB Mini Plus: V9.40P/77 or later
+    - R-50iA series: V10.10P/26 or later
+
+- Additional software options, one of the following:
+    - J519 Stream Motion and R912 Remote Motion
+    - S636 External Control Package, which includes the previous
+
+For more information, see the [official release instructions](https://fanuc-corporation.github.io/fanuc_driver_doc/main/docs/environment/system_requirements.html).
+
+:::warning
+
+As stated in the official page, J568 and J570 are no longer required.
+
+:::
+
+## Connecting to a robot
+
+Robot controllers usually provide multiple Ethernet ports. Make sure to connect to the one defined in the 
+`$STMO.$PHYS_PORT` system variable. If you do not know how to apply the necessary changes, contact the robot manufacturer
+or the AICA support team.
+
+Activate the robot control tablet and, if in Local, set it to Remote mode from the icon on the top right. 
+
+<div class="text--center">
+  <img src={fanucLocal} alt="FANUC tablet in local mode." style={{ width: '110px', borderRadius: "8px" }} />
+</div>
+
+This is how the tablet screen should look like, with the robot in Remote mode and ready to connect:
+
+<div class="text--center">
+  <img src={fanucRemote} alt="FANUC tablet in remote mode." style={{ width: '400px', borderRadius: "8px" }} />
+</div>
+
+:::note
+
+You might also need to confirm the payload the first time the controller boots.
+
+:::
+
+## Hardware interface
+
+:::tip
+
+For optimal performance, set the hardware interface rate to 125 Hertz. Depending the controller rate, this might
+be set higher. Consult with the original documentation or contact the AICA support team for more details. 
+
+:::
+
+<div class="text--center">
+  <img src={fanucHI} alt="FANUC hardware interface." style={{ borderRadius: "8px" }} />
+</div>
+
+Returning to AICA Studio and the hardware interface, it is now possible to define the parameters and connect to the
+robot:
+
+**TODO**
+- Robot IP: the address of the robot 
+- RMI port: the port of the FANUC Remote Motion Interface, used to set ? 
+- Stream Motion Port: the port to stream motion commands
+- Payload Schedule: ?
+
+Click **Start** to start the application and connect to the robot. 
\ No newline at end of file