FANUC RCS could not be initialized.

FANUC RCS could not be initialized.

This is a troubleshooting checklist. 
Fanuc-Rj is used as an example among the Fanuc controllers. 

Client side

- The rrs.xml points to the RCS client.
   This file is located under the Tecnomatix installation: eMPower / Robotics / OLP
   Example:
   The path used in this example is custom, there is no default location, it's up to you. 

- Have the latest rj3_rcs_tune.exe and rj3_rcs_tune_debug.exe. If in doubt, download them from support center. They are called TuneAddOn and DebugAddOn respectively.

RCS Modules FANUC

- Have the latest Fanuc Robotic Controller which is provided by Siemens and available in support center.
  Support center location depends on your Tecnomatix version.
  Tecnomatix Doctor displays the installed version under "Installed Products / Customized Applications"

- Point to the RCS server machine, this is set in the windows registry.
  The rcs client includes a rcsserver64.reg file, showing which registry needs to be modified when the RCS server is on a separate machine, this is in the field "RcsfrcallServerHostName"
  You need administrative permissions to make changes in the registry. 
  Default value is "localhost" which works as it is, when the RCS server is installed in the same client machine. 

Server side

- Create the Virtual Robot (VR) using the software "Virtual Robot Setup Wizard".
This means from scratch in your current version; don't build it from a Robot Backup nor use older versions VRs as they are often incompatible. 

- If you update Fanuc software, even just the revision, VRs built in previous revisions might not work anymore. 

- VRs built in different environments, might have been built in a different version or revision which might be incompatible with yours. 

- Need an active Fanuc RCS license. You can check this in Fanuc's "License Manager" software. 

- Certain settings on the VR (selected while creating the VR), are checked against their counterpart kinematics and frames in Process Simulate when initializing. Especially when it comes to external axis, settings like Gun Close Direction, Axis Direction (X,Y,Z) need to match, else it may not initialize.