fanuc general setup

3. GENERAL SETUP

3.1 FRAMES SETUP

3.1.1 Frames Setup Overview

A frame is a set of three planes at right angles to each other. The point where all three planes intersect is the origin of the frame. This set of planes is called a Cartesian coordinate system. In the robot system, the intersecting edges of the planes are the x, y, and z axes of the frame.

If you are using DispenseTool, refer to the Line Tracking Setup and Operations Manual for more information about setting up line tracking encoders and the line tracking frames for use with the Line Tracking option. However, in the Advanced Techniques chapter of the Line Tracking Setup and Operations Manual, do not use the section on Tracking Part Queues. Instead, refer to the section "Editing the Job Queue."

How Frames are Used

Frames are used to describe the location and orientation of a position. The location is the distance in the x, y, and z directions from the origin of the reference frame. The orientation is the rotation about the x, y, and z axes of the reference frame. When you record a position, its location and orientation are automatically recorded as x, y, z, w, p, and r relative to the origin of the frame it uses as a reference.

The location of a position is expressed as three dimensions, which are measured in millimeters from the origin in the x, y, and z directions. For example, 300,425,25 means the position is 300mm in the x direction, 425mm in the y direction, and 25mm in the z direction from the origin.

The orientation of a position is expressed as three dimensions, which are measured in degrees of rotation about the x, y, and z axes. For example, 0,-90,0 means that the position is rotated -90 degrees about the y axis and is not rotated about the x or z axes.

Kinds of Frames

The robot uses four kinds of frames. The different kinds of frames make it easier to perform certain tasks. The kinds of frames are

� World frame - the default frame of the robot

� Tool frame - a user-defined frame

Note

If you are using PalletTool, your gripper might be set up differently than the one shown in the illustrations in this section. The orientation of the gripper depends on how the pneumatics of the gripper are set up. For example, if you are palletizing very large boxes, your gripper might be mounted perpendicularly to what is shown in the illustrations.

Caution

Do not set up or alter frames when you use PalletTool. Frames are automatically set up for you by PalletTool.

� User frame - a user-defined frame

� Jog frame - a user-defined frame

World Frame

The world frame is a default frame that cannot be changed. The origin of the world frame (0,0,0,0,0,0) is the reference position for user frame and jog frame. The origin is located at a predefined position within the robot.

See Figure 3.1 World Frame for an example. Your robot might be different depending on your system.

Figure 3.1 World Frame

Tool Frame

The default tool frame is a Cartesian coordinate system that has the position of the tool center point (TCP) at its origin. When you set up a UTool, you move the default UTool from the robot faceplate to the point on the applicator, gun, torch, or tool at which the painting, welding, sealing, handling, or other application work is to be done.

User Frame

The user frame is the reference frame for all recorded positional data in a program. You can modify the user frame to offset the positions in the program easily. You can define this frame anywhere.

Caution

Every time you create a program, set the current user frame number to a value between 1 and 6. Do this even if you do not plan to use a user frame in the program, or if you want the user frame position to be zero (0, 0, 0, 0, 0, 0). Otherwise, if the current

Remote TCP (RTCP) Frame (HandlingTool, DispenseTool, and SpotTool+ only)

The remote TCP (RTCP) frame is a kind of user frame you must define in order to use remote TCP jogging and the remote TCP motion option. You define this frame using the location of the remote TCP as the origin of the frame.

Jog Frame

The jog frame is a frame in which to jog easily. It allows you to align the x, y, z coordinate system about a fixture or workpiece that is rotated with respect to the world frame of the robot.

Moving the Location and Orientation of a Frame

You can move the location and orientation of any frame except the world frame. When you move the location or orientation of a frame, all positions recorded with that frame also move. However, the location of those positions will stay the same within that frame.

See Figure 3.2 Moving a Frame for the default location of the user frame.

Figure 3.2 Moving a Frame

3.1.2 Tool Frame

user frame number is zero, a user frame set in that program will not work.

Caution

If you change anyTOOL or USER frame data after a program has been taught, you must reteach each program position or range. If you do not, damage could occur to the equipment.

3.1.2.1 Setting Up Tool Frame

By default, the origin of the tool frame is on the faceplate of the robot. You must move the origin of the tool frame to the position, both location and orientation, where the work is to be done. This position is called thetool center point (TCP) .

For example,in ArcTool, the TCP is the tip of the wire; in PaintTool, the TCP is approximately 12 inches from the end of the applicator, but this can vary depending on your particular applicator;in SpotTool+, the TCP is where the tips of the gun meet when they are closed.

See Figure 3.3 HandlingTool Tool Frame .

All measurements in tool frame are relative to the origin of the tool frame.

� Before you use tool frame, you must set up its location and orientation.

� For the KAREL robot commands MOVE NEAR and MOVE RELATIVE, the z-axis of the tool frame is the approach vector of the tool. That is, the z-axis defines the path the tool will take as it approaches the workpiece.

� You can set up as many as tendifferent tool frames for each robot. They will be stored in the system variable $MNUTOOL.

� You can select one tool frame to be active. The frame number will be stored in the system variable $MNUTOOLNUM.

� In ArcTool, the weave plane is relative (perpendicular) to tool z.

� You can jog the robot in tool frame.

Figure 3.3 HandlingTool Tool Frame

Figure 3.4 ArcTool Tool Frame

Figure 3.5 DispenseTool Tool Frame

Figure 3.6 P-200E Tool Frame

Figure 3.7 SpotTool+ Tool Frame

If a system uses different end-of-arm-tooling (EOAT), each tool will need a different tool frame. By setting up a different tool frame for each tool, the existing program points will be valid, regardless of the tool used.

Table 3.1 Tool Frame Setup Screen Items lists the tool frame setup items and function key operations.

Table 3.1 Tool Frame Setup Screen Items

Warning

If you are using weaving, Thru-Arc Seam Tracking (TAST), coordinated motion, or TorchMate, you must define a six point tool frame by the six point method or the direct entry method. Failure to do so could injure personnel or damage equipment.

ITEMS DESCRIPTION

Tool Frame Setup/xxxx This line shows the current selected method for setting each tool frame.

You can use the following methods to define the tool frame:

� Three point method

� Six point method

� Direct entry method

Three Point Method

Use the three point method to define thelocation of the tool frame when the values cannot be measured and directly entered. The three approach points must be taught with the tool touching a common point from three different approach directions. Do not use this method to set up the P-10 opener.

Table 3.2 Tool Frame Setup Three Point DETAIL Screen Items

Frame number 1-10 These lines show the current position and comment for each available tool frame.

X This column shows the coordinate of each tool frame.

Y This column show the coordinate of each tool frame.

Z This column show the coordinate of each tool frame.

Comment This column shows the comment for each tool frame.

Active TOOL $MNUTOOLNUM[1] = 1

This line indicates which tool frame is currently selected for use.

[TYPE] Press this key to access various application-specific options.

DETAIL Press this key to display detailed information for each tool frame and to set the definition and comment of each tool frame.

OTHER Press this key to select one of the other available reference frames or to choose the motion group for the frame you are setting up (in systems with multiple motion groups).

CLEAR To set the numerical values of any tool frame to zero, move the cursor to the frame number, press CLEAR and answer YES to the prompt.

SETIND

To select the tool frame to use, press F5, SETIND, type the number of the tool frame you want, and press ENTER. This sets the active tool frame ($MNUTOOLNUM[1]) to the number of the frame you want. If F5, SETIND, is not displayed, press PREV.

Note

If you have a 4-axis robot, you can define a tool frame using only the direct entry method.

Note

The three point method of defining the tool frame always places the +z direction of the frame outward from the faceplate. You cannot use this method to define the tool frame for weaving, Thru-Arc Seam Tracking, or touch sensing if you are using ArcTool.

ITEMS DESCRIPTION

Six Point Method

Use the six point method to define thelocation and orientation of the tool frame when the values cannot be measured and directly entered. The six point method requires three points that define the direction vector for the tool, and three points that define the location of the tool center point.

Table 3.3 Tool Frame Setup Six Point DETAIL Screen Items

Direct Entry Method

The direct entry method provides for direct recording and numerical entry of the frame position. For TCP dimensions, refer to the manufacturing specifications of the tool. Use Procedure 3.3 Setting Up Tool Frame

Frame number This line shows the number of the tool frame being defined.

X, Y, Z, W, P, R These items show the current coordinates of the tool frame being defined.

Comment This item is used to add a comment.

Approach point 1 This item is used to define the first approach point.

Approach point 2 This item is used to define the second approach point.

Approach point 3 This item is used to define the third approach point.

Active TOOL $MNUTOOLNUM[1] = 1 This line indicates which tool frame is currently selected for use.


[METHOD] Press this key to select a method of entry.

[FRAME] Press this key to select a frame.

MOVE_TO Press this key to move to a recorded position. Move the cursor to the desired point and press MOVE_TO along with the SHIFT key.

RECORD Press this key along with the SHIFT key to record a position.

ITEM DESCRIPTION


X, Y, Z, W, P, R These items show the current coordinates of the tool frame being defined.


Approach point 1 This item is used to define the first approach point.

Approach point 2 This item is used to define the second approach point.

Approach point 3 This item is used to define the third approach point.

Orient Origin Point This item is used to define the reference point of the user frame.

X Direction Point This item is used to define the +x direction point.

Z Direction Point This item is used to define the +z direction point







Using the Direct Entry Method to set up the tool frame using the direct entry method.

Table 3.4 Tool Frame Setup Direct Entry DETAIL Screen Items

3.1.2.2 HandlingTool Tool Frame Three Point Method

Use Procedure 3.4 Selecting a Tool Frame to set up a tool frame using the three point method.

Procedure 3.1 Setting Up Tool Frame Using the Three Point Method

ITEM DESCRIPTION



X This item is used to define the X component of the tool frame.

Y This item is used to define the Y component of the tool frame.

Z This item is used to define the Z component of the tool frame.

W This item is used to define the W component of the tool frame.

P This item is used to define the P component of the tool frame.

R This item is used to define the R component of the tool frame.

Configuration This line displays the current robot configuration.





Warning

If you set up a new frame, make sure that all frame data is zero or uninitialized before you record any positions. Press F4, CLEAR, to clear frame data.

If you modify an existing frame, make sure that all frame data is set the way you want before you change it.

Otherwise, you could injure personnel or damage equipment.

Caution


Note

If you have a 4-axis robot (such as an A-520i or M-410iHS/iHW), you can define a tool frame using only the direct entry method.

Steps

1. Press MENUS.

2. Select SETUP.

3. Press F1, [TYPE].

4. Select Frames.

5. To choose the motion group for the frame you are setting up in systems with multiple motion groups, press F3, [OTHER], and select the group you want. The default motion group is Group 1.

6. If tool frames are not displayed, press F3, [OTHER], and select Tool Frame. If F3, [OTHER], is not displayed, press PREV.

7. To display the settings for all frames, press PREV repeatedly until you see a screen similar to the following.

8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and

then press F4, YES, to confirm.

9. Press F2, DETAIL.

10. To select a frame,

a. Press F3, FRAME.

SETUP Frames Tool Frame Setup / Three Point X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* 7: 0.0 0.0 0.0 ************* 8: 0.0 0.0 0.0 ************* 9: 0.0 0.0 0.0 ************* Active TOOL $MNUTOOLNUM[1]=1

Note

The maximum number of tool frames is set in the system variable $SCR.$MAXNUMUTOOL. Refer to the Software Reference Manual for more information.

Warning

Do not run a KAREL program that includes motion statements if more than one motion group is defined on your controller. If your controller is set up for more than one motion group, all motion must be initiated from a teach pendant program. Otherwise, the robot could move unexpectedly, personnel could be injured, and equipment could be damaged.

b. Type the desired frame number.

c. Press ENTER.

11. Press F2, [METHOD].

12. Select Three Point. You will see a screen similar to the following.

13. To add a comment:

a. Move the cursor to the comment line and press ENTER.

b. Select a method of naming the comment.

c. Press the appropriate function keys to enter the comment.

d. When you are finished, press ENTER.

14. Record the first approach point (Approach Point 1):

a. Move the cursor to Approach point 1.

b. Jog the robot so that the tool tip touches a reference point.

c. Press and hold the SHIFT key and press F5, RECORD.

15. Record the second approach point (Approach Point 2):

SETUP Frames Tool Frame Setup / Three Point Frame Number: 1 X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: **************** Approach point 1: UNINIT Approach point 2: UNINIT Approach point 3: UNINIT Active TOOL $MNUTOOLNUM[1]=1

Note

Record the three approach points with the tool tip touching the same point from three different approach directions.


b. Rotate the faceplate at least 90 (but no more than 360) about the z axis of the tool coordinates.

c. Jog the robot so that the tool tip touches the reference point used in Step 14 .

d. Press and hold the SHIFT key and press F5, RECORD.

16. Record the third approach point (Approach Point 3):


b. Rotate the tool about either the x or y axis of the tool coordinates.



17. To select the tool frame to use, press F5, SETIND, type the number of the tool frame you want, and press ENTER. If F5, SETIND, is not displayed, press PREV.

-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Tool, and type the number of the frame you want to use. Refer to Section 2.3.8 for more information.

18. Jog the robot in the frame you just taught.

� If the TCP is correct, it will remain stationary during rotational moves. Go to Step 20 .

� If the TCP is not correct, it will not remain stationary during rotational moves. You need to review

your recorded positions. If they are not correct, re-record them correctly. Go to Step 19 .

19. To move to a recorded position, move the cursor to the desired position, press and hold the SHIFT

key and press F4, MOVE_TO.

20. To save the frames and related system variables to a file on the default device,

a. Press MENUS.

b. Select FILE.

c. Press F1, [TYPE].

d. Select File.

e. Press F5, [UTIL].

f. Select Set Device.

g. Move the cursor to the device you want and press ENTER.

h. Display the tool frame screen.

i. Press FCTN.

j. Select SAVE. This will save the frame positions and comments for all frames to the file, FRAMEVAR.SV, on the default device.

Display the SYSTEM Variables menu,

k. Press MENUS.

l. Select SYSTEM.

m. Press F1, [TYPE].

n. Select Variables.

Caution

When you are finished setting the frame configuration, save the information to the default device so that you can reload the configuration data if necessary. Otherwise, if the configuration is altered, you will have no record of it.

Warning

When you use F4, MOVE_TO, to move the robot, unexpected motion can occur. This could injure personnel or damage equipment.

o. Press FCTN.

p. Select SAVE. The tool frame positions and system variables are saved in the SYSVAR.SV file, on the default device.

3.1.2.3 HandlingTool Tool Frame Six Point Method

Procedure 3.2 Setting Up Tool Frame Using the Six Point Method

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.

5. To choose the motion group for the frame you are setting up in systems with multiple motion groups press F3, [OTHER], and select the group you want. The default motion group is Group 1.

6. If tool frames are not displayed, press F3, [OTHER], and select Tool Frame. If F3, [OTHER], is not displayed, press PREV.

7. To display the settings for all the frames, press PREV repeatedly until you see a screen similar to the following.

Warning




Note


SETUP Frames Tool Frame Setup / Six Point X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* 7: 0.0 0.0 0.0 *************





a. Press F3, FRAME.


c. Press ENTER.


12. Select Six Point. You will see a screen similar to the following.





8: 0.0 0.0 0.0 ************* 9: 0.0 0.0 0.0 ************* Active TOOL $MNUTOOLNUM[1]=1

Note


Warning


SETUP Frames Tool Frame Setup/ Six Point Frame Number: 1 X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: **************** Approach point 1: UNINIT Approach point 2: UNINIT Approach point 3: UNINIT Orient Origin Point: UNINIT X Direction Point: UNINIT Z Direction Point: UNINIT Active TOOL $MNUTOOLNUM[1]=1


14. Record the first approach point (Approach Point 1):


b. Jog the robot so that the tool tip touches a reference point.


15. Record the second approach point (Approach Point 2):


b. Rotate the faceplate at least 90 (but no more than 180) about the z axis of the tool coordinates.



16. Record the third approach point (Approach Point 3):

Note

Record the three approach points with the tool tip touching the same point from three different approach directions. The Tool frame will be inaccurate if the approach points face each other.


b. Rotate the tool about either the x or y axis of the tool coordinates.



17. Define the orientation of the origin (Orient Origin Point):

a. Move the cursor to Orient Origin Point.

b. Jog the robot so that the desired tool +z axis is parallel to the z axis of the world frame, pointing in the -z direction. Make sure that the x axis of the tool is parallel to the x axis of the world frame. See Figure 3.8 Defining the Orientation of the Origin .


Figure 3.8 Defining the Orientation of the Origin

18. Define the +x direction point (X Direction Point):

a. Move the cursor to X Direction Point.

b. Change the jog coordinate system to WORLD.

c. Jog the robot so that the tool moves in the +x direction. For example, if the x axis of the tool is aligned with the world x axis, jog in the +x direction.


19. Define the +z direction point (Z Direction Point) :


b. Press and hold the SHIFT key and press F4, MOVE_TO, to move the robot to the Orient Origin Point.

c. Move the cursor to Z Direction Point.

d. Jog the robot in the -z direction (of the world frame).

e. Press and hold the SHIFT key and press F5, RECORD.


-OR-

You can also select the frame using the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Tool, and type the number of the frame you want to select. Refer to Section 2.3.8 for more information.

21. Jog the robot in the frame you just taught.

� If the TCP is correct, it will remain stationary during rotational moves. Go to Step 23 .

� If the TCP is not correct, it will not remain stationary during rotational moves. You need to review

your recorded positions. If they are not correct, re-record them correctly. Go to Step 22 .

Note

To assist you in moving the tool in the +x direction, move the tool at least 250mm or more.

Caution


Warning

When you use F4, MOVE_TO, to move the robot, unexpected motion can occur. This could injure personnel or damage equipment.

22. To move to a recorded position, press and hold the SHIFT key and press F4, MOVE_TO.


a. Press MENUS.

b. Select FILE.


d. Select File.





i. Press FCTN.



k. Press MENUS.

l. Select SYSTEM.



o. Press FCTN.

p. Select SAVE. The tool frame positions and system variables are saved in the SYSVAR.SV file, on the default device.

3.1.2.4 Tool Frame Direct Entry Method

Procedure 3.3 Setting Up Tool Frame Using the Direct Entry Method

Warning



Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.


6. If tool frames are not displayed press F3, [OTHER], and select Tool Frame. If F3, [OTHER], is not displayed, press PREV.





Caution


Note


SETUP Frames Tool Frame Setup / Direct Entry X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* 7: 0.0 0.0 0.0 ************* 8: 0.0 0.0 0.0 ************* 9: 0.0 0.0 0.0 ************* Active TOOL $MNUTOOLNUM[1]=1

Note




a. Press F3, FRAME.


c. Press ENTER.


12. Select Direct Entry. You will see a screen similar to the following.






14. Set each position component:

a. Move the cursor to the component.

b. Enter the numeric value for the component.

c. Press the ENTER key to set the new value.


Warning


SETUP Frames Tool Frame Setup / Direct Entry Frame Number: 1 1 Comment: **************** 2 X: 0.000 3 Y: 0.000 4 Z: 0.000 5 W: 0.000 6 P: 0.000 7 R: 0.000 Configuration: N R D B, 0, 0, 0 Active TOOL $MNUTOOLNUM[1]=1

-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Tool, and type the number of the frame you want to select. Refer to Section 2.3.8 for more information.


a. Press MENUS.

b. Select FILE.


d. Select File.





i. Press FCTN.


17. To Display the SYSTEM Variables menu,

a. Press MENUS.

b. Select SYSTEM.


d. Select Variables.

e. Press FCTN.

f. Select SAVE. The tool frame positions and system variables are saved in the SYSVAR.SV file, on the default device.

3.1.2.5 Selecting a Tool Frame

Procedure 3.4 Selecting a Tool Frame

Caution


Conditions

� The tool frame you want to select has been set up.

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.


6. If tool frames are not displayed, press F3, [OTHER], and select Tool Frame. If F3, [OTHER], is not

displayed, press PREV. You will see a screen similar to the following.

Caution


Note

You can also use the Jog Menu to select the number of the tool frame you want to use. Refer to Section 2.3.8 .

Warning


SETUP Frames Tool Frame Setup / Direct Entry 1/10 X Y Z Comment 0.0 0.0 0.0 ********* **** 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* 7: 0.0 0.0 0.0 ************* 8: 0.0 0.0 0.0 ************* 9: 0.0 0.0 0.0 ************* Active TOOL $MNUTOOLNUM[1]=1

Note

7. To select the tool frame to use, press F5, SETIND, type the number of the tool frame you want, and

press ENTER. If F5, SETIND, is not displayed, press PREV.

-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Tool, and type the number of the frame you want to select. Refer to Section 2.3.8 for more information.

8. When a position is recorded in the teach pendant program, the value of the position’s tool frame will always equal the value of $MNUTOOLNUM[group_no] at the time the position was recorded.

When a teach pendant program is executed, you must make sure that the tool frame of the position equals the value of $MNUTOOLNUM [group_no], otherwise, an error will occur. Set the value of $MNUTOOLNUM using the UTOOL_NUM=n instruction in the teach pendant program before you record the position to guarantee that the tool frame numbers match during program execution.

Refer to Section 6.13 for more information on the UTOOL_NUM instruction.

9. To use a tool frame in a KAREL program, set $GROUP[group_no].$UTOOL=$MNUTOOL[group_no,$MNUTOOL NUM[group_no]] before executing any motion.

3.1.3 User Frame

3.1.3.1 Setting Up User Frame

User frame is a frame that you can set up in any location, with any orientation. User frames are used so that positions in a program can be recorded relative to the origin of the frame. All positions in a program are automatically recorded in user frame. If you do not set up the location and orientation of the user frame before you create a program, the user frame will be set by default to the world frame in the program.

Enabling $USEUFRAME

The system variable $USEUFRAME defines whether the current value of $MNUFRAMENUM[group_no] will be assigned to the position’s user frame when it is recorded or touched up.


Note

If you are using the remote TCP option, you must define a user frame to be your remote TCP (RTCP) frame. Refer to the “Remote TCP Frame” section.

Caution

Recorded positions and position registers are affected by MNUFRAME, and MNUFRAME has an affect during playback. If you change MNUFRAME, any recorded positions and position registers will also change.

Note

After you set up the user frame, you can change its location and orientation. Before you teach positions in a frame that is to move, change $USEUFRAME to TRUE and record the positions. All positions in a program recorded relative to that frame change with it. All positions are taught relative to the default user frame. Use the UFRAME_NUM program instruction to change the user frame.

� You can set up as many as ten user frames for each robot. They will be stored in the system variable $MNUFRAME.

� You can select one user frame per robot group to be active at a time. The frame number will be stored in $MNUFRAMENUM.

� You can jog the robot in user frame.

See Figure 3.9 World and User Frames .

Table 3.5 User Frame Setup Screen Items

Changing the user frame number in one group does not change the user frame number of other groups.

Caution

When $USEUFRAME=FALSE, the user frame number is equal to 0 when you initially record positions and touch them up, regardless of the value of $MNUFRAMENUM[group_no].

When $USEUFRAME=TRUE, the position’s user frame number is equal to the user frame defined by $MNUFRAMENUM[group_no] when you initially record positions and touch them up. You must also touch up positions with the position’s user frame equal to the user frame defined by $MNUFRAMENUM[group_no].

Be sure to set the system variable $USEUFRAME properly. Otherwise, your program will not operate properly.

Caution

Each time you create a program, set the current user frame number to a value between 1 and 9 ( Procedure 3.8 Selecting a User Frame ). Do this even if you do not plan to use a user frame in the program, or if you want the user frame position to be zero (0,0,0,0,0,0). Otherwise, if the current user frame number is zero, a user frame set in that program will not work.

ITEM DESCRIPTION

User frame setup/xxxx This line shows the current selected method for setting each user frame.

Frame number 1-9 These lines show the current position and comment for each available user

Figure 3.9 World and User Frames

Figure 3.10 World and User Frames for ArcTool

frame.

X This column shows the X coordinate of each user frame.

Y This column shows the Y coordinate of each user frame.

Z This column shows the Z coordinate of each user frame.

Comment This column shows the comment for each user frame.

Active UFRAME $MNUFRAMENUM[1] = 0

This line indicates which user frame is currently selected for use.


DETAIL Press this key to display detailed information for each user frame and to set the definition and comment of each frame.


CLEAR To set the numerical values of any user frame to zero, move the cursor to the frame number, press CLEAR and answer YES to the prompt.

SETIND

To select the user frame to use, press F5, SETIND, type the number of the user frame you want, and press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you want. If F5, SETIND, is not displayed, press PREV.

CLRIND Press this key if you want to clear the number of the user frame currently selected for use.

You can use three methods to define the user frame:


� Four point method


Three Point Method

Recording three points defines the user frame. The three points are the origin, a position along the +x-axis of the user frame, and a position on the x-y plane of the user frame (defines the x-y plane and the y-z plane).

Table 3.6 User Frame Setup Three Point DETAIL Screen Items

Four Point Method

ITEM DESCRIPTION

Frame number This line shows the number of the user frame being defined.

X, Y, Z, W, P, R These items show the current coordinates of the user frame being defined.




Y Direction Point This item is used to define a point on the X-Y plane.

Active UFRAME $MNUFRAMENUM[1] = 0 This line indicates which user frame is currently selected for use.






Use the four point method when you need to define a frame that has its origin at a position other than the reference of the frame. You can also use it to define multiple frames with parallel axes. The four points are the reference of the frame (called orient origin point), a point along the +x-axis of the frame (defines the x-z plane), a point on the x-y plane of the frame (defines the x-y plane and the y-z plane) and the origin of the frame (called system origin).

Table 3.7 User Frame Setup Four Point DETAIL Screen Items

Direct Entry Method

Use the direct entry method when you know the coordinates of the user frame. The direct entry method allows you to designate the origin with values for x, y, z, w, p, and r. Use Procedure 3.7 Setting Up User Frame Using the Direct Entry Method to define a user frame using the direct entry method.

Table 3.8 User Frame Setup Direct Entry DETAIL Screen Items

ITEM DESCRIPTION


X, Y, Z, W, P, R These items show the current coordinates of the user frame being defined.





System Origin This item is used to teach the origin of the second user frame.

Active UFRAME $MUFRAMENUM[1] = 0 This line indicates which user frame is currently selected for use.






ITEM DESCRIPTION



X This item is used to define the component of the user frame.

Y This item is used to define the component of the user frame.

Z This item is used to define the component of the user frame.

W This item is used to define the component of the user frame.

P This item is used to define the component of the user frame.

R This item is used to define the component of the user frame.


Active UFRAME $MNUFRAMENUM[1] =0 This line indicates which user frame is currently selected for use.


Use Procedure 3.8 Selecting a User Frame to select a user frame.

3.1.3.2 HandlingTool User Frame Three Point Method

Procedure 3.5 Setting Up the User Frame Using the Three Point Method

Conditions

� The tool frame you want to select has been set up. ( Procedure 3.1 Setting Up Tool Frame Using the Three Point Method , Procedure 3.2 Setting Up Tool Frame Using the Six Point Method , or Procedure 3.3 Setting Up Tool Frame Using the Direct Entry Method )

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.



MOVE_TO Press this key along with the SHIFT key to move to a recorded position.


Caution


Caution


Warning





6. If user frames are not displayed, press F3, [OTHER], and select User/RTCP. If F3, [OTHER], is not

displayed, press PREV.


8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and then press F4, YES, to confirm.



a. Press F3, FRAME.


c. Press ENTER.



Warning


SETUP Frames User/RTCP Setup / Three Point X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* 7: 0.0 0.0 0.0 ************* 8: 0.0 0.0 0.0 ************* 9: 0.0 0.0 0.0 ************* Active UFRAME/RTCP $MNUFRAMNUM[1]=0

SETUP Frames User/RTCP Setup/ Three Point Frame Number: 2 X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: **************** Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT Active UFRAME/RTCP $MNUFRAMNUM[1]=1






14. Define the origin point of the user frame: (Orient Origin Point) :


b. Jog the robot TCP to the origin. In Figure 3.11 Defining the Origin , the origin is labeled 1.


Figure 3.11 Defining the Origin

15. Define the +x direction point (X Direction Point) :


b. Jog the robot tool tip to a point along the +x-axis. In Figure 3.12 Defining the X Direction Point , this point is labeled number 2.


Figure 3.12 Defining the X Direction Point

16. Define a point on the positive X-Y plane (Y Direction Point) :

a. Move the cursor to Y Direction Point.

b. Jog the robot to a location on the positive X-Y plane. In Figure 3.13 Defining the X-Y Plane , this point is labeled number 3.


Figure 3.13 Defining the X-Y Plane

17. To select the user frame to use, press F5, SETIND, type the number of the user frame you want, and press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you want. If F5, SETIND, is not displayed, press PREV.

-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to User, and type the number of the frame you want to use. Refer to Section 2.3.8 for more information.

18. Jog the robot in the +x, +y, and +z directions. The robot should move in the correct directions according to the frame you defined. If the robot does not move in the correct directions, go to Step 19 . Otherwise, go to Step 20 .




a. Press MENUS.

b. Select FILE.


d. Select File.




h. Display the user frame screen.

i. Press FCTN.



Caution


Warning

When you use F4, MOVE_TO, to jog the robot, unexpected motion can occur. This could injure personnel or damage equipment.

Note

If you want to clear the current user frame selected, press NEXT, >, and then F2, CLRIND. This sets the active user frame ($MNUFRAMNUM[1]) to zero, which means that the default user frame is currently selected.

k. Press MENUS.

l. Select SYSTEM.



o. Press FCTN.

p. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the default device.

3.1.3.3 HandlingTool User Frame Four Point Method

Procedure 3.6 Setting Up User Frame Using the Four Point Method

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.


Caution


Warning




Warning

Do not run a KAREL program that includes motion statements if more than one motion group is defined on your controller. If your controller is set up for more than one motion group, all motion must be

6. If user frames are not displayed, press F3, [OTHER], and select User Frame. If F3, [OTHER], is not






a. Press F3, FRAME.


c. Press ENTER.


12. Select Four Point. You will see a screen similar to the following.





initiated from a teach pendant program. Otherwise, the robot could move unexpectedly, personnel could be injured, and equipment could be damaged.

SETUP Frames User/RTCP Setup / Four Point X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* 7: 0.0 0.0 0.0 ************* 8: 0.0 0.0 0.0 ************* 9: 0.0 0.0 0.0 ************* Active UFRAME/RTCP $MNUFRAMNUM[1]=0

SETUP Frames User/RTCP Setup/ Four Point Frame Number: 2 X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: **************** Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT System Origin: UNINIT Active UFRAME/RTCP $MNUFRAMNUM[1]=1


14. Define the reference point of the user frame (Orient Origin Point) :


b. Jog the robot TCP to the origin. In Figure 3.14 Defining the Origin , the origin is labeled 1.



15. Define the +x direction point (X Direction Point) :


b. Jog the robot TCP to a point along the +x-axis. In Figure 3.15 Defining the X Direction Point , this point is labeled number 2.

c. Press and hold the SHIFT key and press F5, RECORD, to record a position.


16. Define a point on the X-Y plane (Y Direction Point):


b. Jog the robot to a location on the positive X-Y plane. In Figure 3.16 Defining the X-Y Plane this point is labeled number 3.



17. Teach the origin of the second user frame (System Origin):

a. Move the cursor to System Origin.

b. Jog the robot TCP to the origin of the second user frame. In Figure 3.17 Defining the Second Origin , the origin is labeled 4.

c. Press F5, RECORD, to record a position.

Figure 3.17 Defining the Second Origin


-OR-





Caution


Warning


a. Press MENUS.

b. Select FILE.


d. Select File.





i. Press FCTN.



k. Press MENUS.

l. Select SYSTEM.



o. Press FCTN.


3.1.3.4 User Frame Direct Entry Method

Procedure 3.7 Setting Up User Frame Using the Direct Entry Method


Note

If you want to clear the current frame to zero, move the cursor to the frame number and press NEXT, >, and then F2, CLRIND. This sets the active user frame ($MNUFRAMNUM[1]) to zero, which means that the default user frame is currently selected.

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.


6. If user frames are not displayed, press F3, [OTHER], and select User Frame. If F3, [OTHER], is not



Caution


Warning




Warning


SETUP Frames User/RTCP Setup / Direct Entry X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 *************




a. Press F3, FRAME.


c. Press ENTER.











c. Press the ENTER key to set the new value.


-OR-

7: 0.0 0.0 0.0 ************* 8: 0.0 0.0 0.0 ************* 9: 0.0 0.0 0.0 ************* Active UFRAME/RTCP $MNUFRAMNUM[1]=0

SETUP Frames User/RTCP Setup/ Direct Entry Frame Number: 1 1 Comment: **************** 2 X: 0.000 3 Y: 0.000 4 Z: 0.000 5 W: 0.000 6 P: 0.000 7 R: 0.000 Configuration: N, 0, 0, 0 Active UFRAME/RTCP $MNUFRAMENUM[1]=0



a. Press MENUS.

b. Select FILE.


d. Select File.





i. Press FCTN.


17. To save the SYSTEM Variables menu,

a. Press MENUS.

b. Select SYSTEM.



e. Press FCTN.

f. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the

Note


Caution


default device.

3.1.3.5 Selecting a User Frame

Procedure 3.8 Selecting a User Frame

Conditions

� The user frame you want to select has been set up.

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.

5. If user frames are not displayed press F3, [OTHER], and select User Frame. If F3, [OTHER], is not displayed, press PREV. You will see a screen similar to the following.

Caution

The system variable $USEUFRAME defines whether the current value of $MNUFRAMENUM[group_no] will be assigned to the position’s user frame when it is being recorded or touched up.

When $USEUFRAME=FALSE, the initial recording of positions and the touching up of positions is done with the user frame number equal to 0, regardless of the value of $MNUFRAMENUM[group_no].

When $USEUFRAME=TRUE, the initial recording of positions is done with the position’s user frame equal to the user frame defined by $MNUFRAMENUM[group_no]. The touching up of positions must also be done with the position’s user frame equal to the user frame defined by $MNUFRAMENUM[group_no].

Be sure to set system variable $USEUFRAME correctly. Otherwise, your program will not operate properly.

Note

You can also use the Jog Menu to select the number of the user frame you want to use. Refer to Section 2.3.8 .

SETUP Frames User/RTCP Setup / Direct Entry X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 *************


-OR-


3.1.4 Remote TCP Frame

3.1.4.1 Setting Up a Remote TCP Frame

You must define a remote TCP (RTCP) frame before you can use the remote TCP option to jog or include remote TCP within a motion instruction. Use Procedure 3.10 Setting Up a Remote TCP Frame Using the Direct Entry Method to set up an RTCP frame. You define this frame using the location of the remote TCP as the origin of the frame.

See Figure 3.18 Remote TCP Frame for an example of a remote TCP frame.

Figure 3.18 Remote TCP Frame

3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* 7: 0.0 0.0 0.0 ************* 8: 0.0 0.0 0.0 ************* 9: 0.0 0.0 0.0 ************* Active UFRAME/RTCP $MNUFRAMNUM[1]=0

Note

When a teach pendant program is executed, you must make sure that the user frame of the position equals the value of $MNUFRAMENUM[group_no], otherwise, an error will occur. Set the value of $MNUFRAMENUM[1] using the UFRAME_NUM=n instruction in the teach pendant program and then execute that instruction before you record the position. This guarantees that the position corresponds to the correct user frame.

Note

Remote TCP frame will not be available if the Coordinated Motion option is loaded.

You can use two methods to define the RTCP frame:



Three Point Method

Recording three points defines the RTCP frame. The three points are the origin, or TCP of the fixed tool, a position along the +x-axis of the RTCP frame, and a position on the y-axis of the RTCP frame. Use Procedure 3.9 Setting Up a Remote TCP Frame Using the Three Point Method to define an RTCP frame using the three point method.

Direct Entry Method

If you cannot use the three point method, use the direct entry method. In the direct entry method, you will be required to specify values for x, y, and z of the remote TCP. Use Procedure 3.10 Setting Up a Remote TCP Frame Using the Direct Entry Method to define an RTCP frame using the direct entry method.

Use Procedure 3.11 Selecting an RTCP Frame to select an RTCP frame.

Procedure 3.9 Setting Up a Remote TCP Frame Using the Three Point Method

Warning

If you are setting up a new frame, make sure that all frame data is zero or uninitialized before you record any positions. Press F4, CLEAR, to clear frame data.

If you are modifying an existing frame, make sure that all frame data is set the way you want before you change it.


Conditions

� The end-of-arm tooling or a setup pointer is attached to the robot faceplate.

� You have set up the tool frame for the end-of-arm tooling or setup pointer. Refer to Section 3.1.2.1 .

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.

5. If user/RTCP frames are not displayed, press F3, [OTHER], and select User/RTCP. If F3, [OTHER], is not displayed, press PREV.





a. Press F3, FRAME.


c. Press ENTER.



SETUP Frames User/RTCP Setup / Three Point X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* Active UFRAME/RTCP $MNUFRAMNUM[1]=0

SETUP Frames User/RTCP Setup/ Three Point Frame Number: 2 X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: **************** Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT






13. Define the origin point of the remote TCP frame(Orient Origin Point):


b. Jog the robot so that the TCP of the end-of-arm tooling or setup pointer touches the remote TCP of the fixed tool. See Figure 3.19 Touching the TCP of the Robot Tool to the Remote TCP .


Figure 3.19 Touching the TCP of the Robot Tool to the Remote TCP

14. Define the +x direction point(X Direction Point):


b. Select an xyz coordinate system.

c. Jog the robot in the desired +x direction.


15. Define a point on the positive X-Y plane(Y Direction Point):


Active UFRAME/RTCP $MNUFRAMNUM[1]=0

b. Select an xyz coordinate system.

c. Press and hold the SHIFT key and press F4, MOVE_TO.

d. Move the cursor to Y Direction Point.

e. Jog the robot in the desired +y direction.

f. Press and hold the SHIFT key and press F5, RECORD.

16. To select the RTCP frame to use press F5, SETIND, type the number of the user frame you want, and press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you want. If F5, SETIND, is not displayed, press PREV.

-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to RTCP, and type the number of the frame you want to use. Refer to Section 2.3.8 for more information.





a. Press MENUS.

b. Select FILE.


Caution


Warning


Note

If you want to clear the current RTCP frame selected, press NEXT, >, and then F2, CLRIND. This sets the active user frame ($MNUFRAMNUM[1]) to zero, which means that the default user frame is currently selected.

d. Select File.




h. Display the RTCP frame screen.

i. Press FCTN.


20. To display the SYSTEM Variables menu,

a. Press MENUS.

b. Select SYSTEM.



e. Press FCTN.

f. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the default device.

Procedure 3.10 Setting Up a Remote TCP Frame Using the Direct Entry Method

Conditions

� The end-of-arm tooling or a setup pointer is attached to the robot faceplate.

� You have set up the tool frame for the end-of-arm tooling or setup pointer. Refer to Section 3.1.2.1 .

Steps

1. Determine the Remote TCP of the fixed tool:

Warning

If you are setting up a new frame, make sure that all frame data is zero or uninitialized before you record any positions. Press F4, CLEAR, to clear frame data.

If you are modifying an existing frame, make sure that all frame data is set the way you want before you change it.


a. Jog the robot so that the TCP of the end-of-arm tooling or setup pointer touches the remote TCP of the fixed tool.

Figure 3.20 Touching the TCP of the Robot Tool to the Remote TCP

b. Press POSN.

c. Press F4, WORLD.

d. Write down the x, y, and z values of the current position in the WORLD coordinate system. This is the remote TCP of the fixed tool.

2. Use the Direct Entry Method to set up the Remote TCP frame:

a. Press MENUS.

b. Select SETUP.


d. Select Frames.

e. If user/RTCP frames are not displayed, press F3, [OTHER], and select User/RTCP. If F3, [OTHER], is not displayed, press PREV.

f. To display the settings for all the frames, press PREV repeatedly until you see a screen similar to the following. SETUP Frames User/RTCP Setup/ Direct Entry X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* Active UFRAME/RTCP $MNUFRAMNUM[1]=0

g. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and then press F4, YES, to confirm.

h. Press F2, DETAIL.

i. To select a frame, press F3, FRAME, type the desired frame number, and press ENTER.

j. Press F2, [METHOD].

k. Select Direct Entry. You will see a screen similar to the following.

l. To add a comment, move the cursor to the comment line, press ENTER, select a method of naming the comment, and press the appropriate function keys to enter the comment. When you are finished, press ENTER.

m. Set each position component: � Move the cursor to the x, y, and z components and enter the values you recorded in Step

1.d .

� Move the cursor to the w, p, and r components and enter 0 for each component.

3. To select the RTCP frame to use, press F5, SETIND, type the number of the RTCP frame you want, and press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you want. If F5, SETIND, is not displayed, press PREV.

-OR-


SETUP Frames User/RTCP Setup/ Direct Entry Frame Number: 1 1 Comment: **************** 2 X: 0.000 3 Y: 0.000 4 Z: 0.000 5 W: 0.000 6 P: 0.000 7 R: 0.000 Configuration: N R D B, 0, 0, 0 Active UFRAME/RTCP $MNUFRAMENUM[1]=0

Note


Caution

When you are finished setting the frame configuration, save the information to the default device so that you can reload the configuration data if necessary. Otherwise, if the configuration is


a. Press MENUS.

b. Select FILE.


d. Select File.




h. Display the RTCP frame screen.

i. Press FCTN.


5. To display the SYSTEM Variables menu,

a. Press MENUS.

b. Select SYSTEM.



e. Press FCTN.


Procedure 3.11 Selecting an RTCP Frame

Conditions

� The user frame you want to select has been set up.

Steps

altered, you will have no record of it.

Note

To select the number of the RTCP frame you want to use, you can also use the jog menu. Refer to Section 2.3.8 for more information.

1. Press MENUS.

2. Select SETUP.


4. Select Frames.

5. If user frames are not displayed press F3, [OTHER], and select User Frame. If F3, [OTHER], is not displayed, press PREV. You will see a screen similar to the following.

6. To select the user frame to use press F5, SETIND, type the number of the user frame you want, and press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you want. If F5, SETIND, is not displayed, press PREV.

-OR-


7. The system variable $USEUFRAME defines whether the current value of $MNUFRAMENUM[group_no] will be assigned to the position’s user frame when it is being recorded or touched up.

When $UFRAMENUM=FALSE, the initial recording of positions and the touching up of positions is done with the user frame number equal to 0, regardless of the value of $MNUFRAMENUM[group_no].

When $UFRAMENUM=TRUE, the initial recording of positions is done with the position’s user frame equal to the user frame defined by $MNUFRAMENUM[group_no]. The touching up of positions must also be done with the position’s user frame equal to the user frame defined by $MNUFRAMENUM[group_no].

3.1.5 Jog Frame

3.1.5.1 Setting Up Jog Frame

Jog frame is a frame that you can set up in any location, with any orientation. Jog frame provides a

SETUP Frames User/RTCP Setup/Direct Entry X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* Active UFRAME/RTCP $MNUFRAMNUM[1]=0

Note

When a teach pendant program is executed, you must make sure that the user frame of the position equals the value of $MNUFRAMENUM[group_no]; otherwise, an error will occur. Set the value of $MNUFRAMENUM[1] using the UFRAME_NUM=n instruction in the teach pendant program before you record the position to guarantee that the user frame numbers match during program execution.

convenient way to move along a part when the part is oriented differently from the world frame. See Figure 3.21 Jog Frame Defined Parallel to Part .

You can set up jog frame so that the coordinates of jog frame correspond to the coordinates of the part. You can then jog along x, y, and z to teach the positions on the part.

� Before you use jog frame, you must set up its location and orientation.

� You can set up as many as five different jog frames for each robot.

� You can select one jog frame to be active at a time per robot group.

� You can jog the robot in jog frame.

Figure 3.21 Jog Frame Defined Parallel to Part

Table 3.9 Jog Frame Setup Screen Items

ITEM DESCRIPTION

Jog frame setup/xxxx This line shows the current selected method for setting each jog frame.

Frame number 1-5 These lines show the current position and comment for each available jog frame.

X This column shows the X coordinate of each jog frame.

Y This column shows the Y coordinate of each jog frame.

Z This column shows the Z coordinate of each jog frame.

Comment This column shows the comment for each jog frame.

Active JOG FRAME[1] = 0 This line indicates which jog frame is currently selected for use.


DETAIL Press this key to display detailed information for each jog frame and to set the definition and comment of each jog frame.


You can use two methods to define the jog frame.



Three Point Method

The three point method allows you to define a jog frame by recording three points: the origin, a point along the +x-axis of the user frame, and a point on the x-y plane of the user frame (defines the x-y plane and the y-z plane).

Table 3.10 Jog Frame Setup Three Point DETAIL Screen Items

Direct Entry Method

The direct entry method allows you to designate the origin with values for x, y, z, w, p, and r. This method provides direct recording and numerical entry of the frame position.

Table 3.11 Jog Frame Setup Direct Entry DETAIL Screen Items

CLEAR To set the numerical values of any jog frame to zero, move the cursor to the frame number, press CLEAR and answer YES to the prompt.

SETIND To select the jog frame to use, press F5, SETIND, type the number of the jog frame you want, and press ENTER. This sets the active jog frame to the number of the frame you want. If F5, SETIND, is not displayed, press PREV.

ITEM DESCRIPTION

Frame number This line shows the number of the jog frame being defined.

X, Y, Z, W, P, R These items show the current coordinates of the jog frame being defined.


Orient Origin Point This item is used to define the reference point of the jog frame.



Active JOG FRAME[1] = 0 This item indicates which jog frame is currently selected for use






ITEM DESCRIPTION

Frame number This line shows the number of the jog frame being defined.


X This item is used to define the component of the jog frame.

Y This item is used to define the component of the jog frame.

Use Procedure 3.14 Selecting a Jog Frame to select a jog frame.

3.1.5.2 HandlingTool Jog Frame Three Point Method

Procedure 3.12 Setting Up the Jog Frame Using the Three Point Method

Conditions

� You have a cardboard box.

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.

Z This item is used to define the component of the jog frame.

W This item is used to define the component of the jog frame.

P This item is used to define the component of the jog frame.

R This item is used to define the component of the jog frame.


Active JOG FRAME[1] = 0 This line indicates which jog frame is currently selected for use.




MOVE_TO Press this key along with the SHIFT key to move to a recorded position.


Caution


Warning





6. If jog frames are not displayed, press F3, [OTHER], and select Jog Frame. If F3, [OTHER], is not



8. To set the numerical values to zero,, move the cursor to the frame number, press F4, CLEAR, and then press F4, YES, to confirm.



a. Press F3, FRAME.


c. Press ENTER.




Warning


SETUP Frames JOG Frame Setup / Three Point X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* Active JOG FRAME[1] = 0

SETUP Frames Jog Frame Setup / Three Point Frame Number: 2 X 0.0 Y 0.0 Z 0.0 W 0.0 P 0.0 R 0.0 Comment: **************** Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT Active JOG FRAME[1] = 0





14. Mount a box within the workcell so that the orientation of the box matches the orientation of the desired jog frame. Make sure that the corner of the box used to record the origin is at the proper location.

15. Define the origin of the jog frame (System Origin Point):

a. Move the cursor to System Origin Point.

b. Jog the robot TCP to the origin. In Figure 3.22 Defining the Origin the origin is labeled number 1.



16. Define the +x direction point (X Direction Point):


b. Jog the robot TCP to a point along the +x-axis of the box. In Figure 3.23 Defining the X Direction Point , this point is labeled number 2.



17. Define a point on the positive X-Y plane (Y Direction Point):


b. Jog the robot to a location on the positive X-Y plane. In Figure 3.24 Defining the X-Y Plane , this point is labeled number 3.



18. To select the jog frame to use, press F5, SETIND, type the number of the jog frame you want, and press ENTER. If F5, SETIND, is not displayed, press PREV.

-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Jog, and type the number of the frame you want to use. Refer to Section 2.3.8 for more information.





a. Press MENUS.

b. Select FILE.


d. Select File.




h. Display the jog frame screen.

i. Press FCTN.



k. Press MENUS.

l. Select SYSTEM.


Caution


Warning



o. Press FCTN.


3.1.5.3 Jog Frame Direct Entry Method

Procedure 3.13 Setting Up the Jog Frame Using the Direct Entry Method

Steps

1. Press MENUS.

2. Select SETUP.



5. Select Frames.

6. If jog frames are not displayed, press F3, [OTHER] and select Jog Frame. If F3, [OTHER], is not displayed, press PREV.

Caution


Warning




Warning






a. Press F3, FRAME.


c. Press ENTER.











c. Press ENTER to set the new value.

SETUP Frames JOG Frame Setup / Three Point X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* Active JOG FRAME[1] = 0

SETUP Frames Jog Frame Setup / Direct Entry Frame Number: 1 1 Comment: **************** 2 X: 0.000 3 Y: 0.000 4 Z: 0.000 5 W: 0.000 6 P: 0.000 7 R: 0.000 Configuration: N R D B, 0, 0, 0 Active JOG FRAME[1] = 0

15. To select the jog frame to use, press F5, SETIND, type the number of the jog frame you want, and press ENTER. If F5, SETIND, is not displayed, press PREV.

-OR-



a. Press MENUS.

b. Select FILE.


d. Select File.




h. Display the jog frame screen.

i. Press FCTN.



17. To save the SYSTEM Variables,

a. Press MENUS.

b. Select SYSTEM.



e. Press FCTN.


Caution


3.1.5.4 Selecting a Jog Frame

Procedure 3.14 Selecting a Jog Frame

Conditions

� The jog frame you want to select has been set up.

Steps

1. Press MENUS.

2. Select SETUP.


4. Select Frames.

5. If jog frames are not displayed press F3, [OTHER], and select Jog Frame. If F3, [OTHER], is not displayed, press PREV. You will see a screen similar to the following.

6. To select the jog frame to use, press F5, SETIND, type the number of the jog frame you want, and press ENTER. This copies the selected jog frame to $JOG_GROUP[group_no].$JOGFRAME. If F5, SETIND, is not displayed, press PREV.

-OR-


3.1.6 Saving Frame Data

Saving frame data saves the frame positions and comments. Use Procedure 3.15 Saving Frame Data to a File to save frame data to a file.

Caution


Note

You can also use the Jog Menu to select the number of the jog frame you want to use. Refer to Section 2.3.8 for more information.

SETUP Frames Jog Frame Setup / Direct Entry X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* Active JOG FRAME[1] = 0

Procedure 3.15 Saving Frame Data to a File

1. Press MENUS.

2. Select SETUP.


4. Select Frames.



a. Press F3, FRAME.


c. Press ENTER.


8. Select a frame method. You will see a screen similar to the following.


a. Press MENUS.

b. Select FILE.


Caution


SETUP Frames Tool Frame Setup / Three Point X Y Z Comment 1: 0.0 0.0 0.0 ************* 2: 0.0 0.0 0.0 ************* 3: 0.0 0.0 0.0 ************* 4: 0.0 0.0 0.0 ************* 5: 0.0 0.0 0.0 ************* 6: 0.0 0.0 0.0 ************* ACTIVE TOOL $MNUTOOLNUM[1]=1

Caution


d. Select File.




h. Display the frame screen.

i. Press FCTN.


10. To save the SYSTEM Variables,

a. Press MENUS.

b. Select SYSTEM.



e. Press FCTN.


fanuc general setup

Documents

world frame tool frame

user frame

default frame

reference frame

userdefined frame world

robot tool frame

userdefined frame jog

default tool frame