Fanuc Robot Dough Filling Automation

I have a Fanuc arm already mounted above a conveyor line that carries empty containers under a filling nozzle. Your job is to write, test, and document the TP / KAREL program that tells the robot when to open the nozzle, dispense dough until the pre-set timer expires, and move on to the next container. The requirement is to reach a consistent level in every container, so we are relying on a fixed dispense time rather than vision or external sensors.

Key points you should address while coding:
• Synchronise robot movement with the conveyor index signal that positions each container under the nozzle.
• Trigger the dough valve, keep it open for the calibrated time window, then close it cleanly to minimise dripping.
• Build simple operator-adjustable registers for cycle time, purge time, and container count so that our line techs can tweak the process without touching the main logic.
• Include fault recovery for missed index pulses or low-dough warnings; the robot should pause safely and resume when cleared.
• Provide a brief commissioning guide and a commented backup of the program (LS and .TP files) so I can reload it if needed.

I will supply the current robot backup, I/O map, and the conveyor’s hand-shake signals. You give me:
1. Updated Fanuc program ready to load.
2. A one-page cheat sheet covering register functions, start-up sequence, and recovery steps.
3. Remote support while I run the first production test (screen-share or FaceTime is fine).

If you have handled dosing or filling applications on Fanuc before, let me know—especially if you have tricks for drip reduction or quick timer tuning.