Author Topic: Fanuc User Frames  (Read 1690 times)

torchman

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Fanuc User Frames
« on: September 15, 2010, 09:48:35 PM »
I have 4 fixtures for welding, each fixture welds the same part. I have had to setup a userframe for each fixture and copy the program 4 times and teach each fixture basically the same moves. Is it posible to use one program but use a frame to define where each part is. The problem is each part may weld differently based on who taught the positions and how accurate they are. I do use touch sensing to find general location. One thing to consider is this is on a system 10 Lincoln cell so two parts are getting welded while the other side is getting loaded so there is a center gaurd that the robot has to go around when it goes to the other side.

yogesh

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Re: Fanuc User Frames
« Reply #1 on: September 16, 2010, 10:27:25 AM »
Torchman

Welcome to the forum.

It is theoretically possible to have 1 program and use it on all your 4 fixtures. To do this you need to:
- create a common program with say UF:1
- store each of the user frame values in position registers (say PR1,2,3 & 4)
- create some common point outside the centre guard as the start point
- at the beginning of each of the programs you need to transfer the PR values  into the UF1
- depending on which fixture you are using, you will have to use the respective PR.
- Please note that the UF is always 1 but the values inside the UF1 will be replaced by the selected PR.

Now coming to the practical implications, I would definitely anticipate trouble because of the following:
- Your application is Arc welding! therefore you need higher repeatability. the UF shifts may not promise 100% perfection.
- Your fixtures are identical but it comes with a manufacturing tolerances.. therefore these may add to the variations
- all these efforts dont matter unless your parts to be welded are of good repeatability and have a good fitup...

In any case goodluck with your exercise.  :top: let us know the results

torchman

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Re: Fanuc User Frames
« Reply #2 on: September 16, 2010, 04:08:52 PM »
Thanks for the info, I'll let you know what how it works.

torchman

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Re: Fanuc User Frames
« Reply #3 on: September 16, 2010, 07:33:32 PM »
I cannot seem to get the userframe info to update the frame out of the PR, ex. PR[90](FIXTURE1)=USERFRAME[1],PR[91](FIXTURE2)=USERFRAME[1], and in what frame do I teach the actual position moves, if I teach them in fixture one with an active frame it alarms when it goes to fixture two.

yogesh

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Re: Fanuc User Frames
« Reply #4 on: September 17, 2010, 06:33:30 AM »
You do not read thoroughly. Do you?   :waffen100:  :icon_smile:



- Please note that the UF is always 1 but the values inside the UF1 will be replaced by the selected PR.


you have to make all you programs only with UF1 and then change the UF1 values while you go to other fixtures.

to change the UF values from within the program you could write an instruction as below:

$MNUFRAMENUM[1]=PR[1] for Fixture 1
$MNUFRAMENUM[1]=PR[2] for Fixture 2 and so on

do not forget to create the non fixture points/programs in an neutral UF say UF:5 (example: nozzle cleaning, robot home etc. )

Offline TylerRobertson

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Re: Fanuc User Frames
« Reply #5 on: September 20, 2010, 03:00:16 PM »
You may have to go through a program and re-orient the positions, as if your weld fixtures are in vastly different positions, the robot may not be able to reach certain parts of the weld, because it will be trying to keep the same orientation at each point

How are your fixtures set up around the robot? 

If they're set up in a + configuration, with the robot at the centre of the + , this can work, but you'll have to make sure your user frame orientation follows the +. That is, if the first frame follows the WORLD frame, then when you move to the next fixture, your frame will have a ~90 degree rotation from the first.

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torchman

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Re: Fanuc User Frames
« Reply #6 on: October 07, 2010, 09:57:11 PM »
Thanks to all for providing solutions, I did get one program to work by using the PR to update the Frames.