Change robot orientation.

[funucfun]

Hi guys, I have a problem, yesterday I was set the program, all points in UTOOL and UFRAME, today mechanics change robot orientation to 90 degrees. And the question is, how can I change this without change all points in my program?

[flatcurve]

Have you already tried reteaching the user frame?

[Fabian Munoz]

Am I missing something here ?

Call the maintenance supervisor and make him put back the tool in the right place.   Use dowel, scribe lines, even, take a picture when is done correctly and post it in front of the panel

[raycor]

you can make a shift, with this you can move all the points without reteaching,  I don't remember very well... but is like this, press MENU, UTILITIES, TYPE (F1), PROGRAM SHIFT,  Then appears a new window there you can say to apply the shift to all points, you set the original program, you name the new program, Then you press SHIFT + DOWN KEY, and there's another menu, which is the rotational shift menu, Press F4 for enable the rotational shift menu, then you need to record the x, y, z positions (originals) the you move the robot and record the x, y,z positions (destination) finally press F2 Execute, for making the shift and press "yes" (F4) for execute the shift.

But I never used the rotational shift, and I prefer to making againg the program because some times is easier, because when you rotate sometimes the tool, gun, servogun, can't make the moves or has a lot of interference, so you finally need to make again the program.  I only use the shift when you need to adjust the program in "Z+ or Z- way" just in one axe and way, not for rotational.

[flatcurve]

Maybe I'm confused... Was the robot turned 90 degrees on it's base, or was the tool mounted 90 degrees from normal on the faceplate? If it's the tool, you should make them put it back the way it was and use dowel pins so that this doesn't happen again.

If the robot was just turned on it's base, reteach the user frame. You shouldn't need to shift the program at all. as long as all the points in your program were taught to that frame.

If it's your tool, you can also just reteach the UTOOL and it should get you most of the way there. But you'll still probably have to touch up the points a little bit.

[funucfun]

only robot

[flatcurve]

Yes, just reteach the user frame. That is what it is for.

[funucfun]

...or can I use the: ANGLE ENTRY SHIFT ?

[bidzej]

if you're sure that the robot was rotated precisely by 90,000 deg... I would just reteach the user frame.

[raycor]

I was remembering that if you reteach de frame, the FANUC Manual makes a note:

"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. "
 

[flatcurve]

Yes and no. They mainly say that for liability reasons. FANUC does not want to give anyone the impression that they can teach a program on the floor, and then move the user frame to the ceiling and expect it to work. If the only thing that changed was the rotation of the robot base, it should be fine as long as everything else is in the same position. Because think about it, the arm configurations are all going to be the same. The only thing that changes is the angle of J1. Also, I've written a lot of programs where we end up moving user frames around without needing to reteach points. Actually, nearly every job I've done has required this. Because we always do a run off on our shop floor, and then after we install in the factory I reteach user frames. Most of the time, it's been fine.

What you need to watch out for though is if you used joint representation instead of cartesian representation for any of the moves. This doesn't mean joint moves (or "J" moves) but rather how the actual position data is stored. If you highlight the position number in your program and press F5 [POSITION], if you see XYZWPR data, it's cartesian. If you see J1, J2, J3, etc..., then it's joint. Joint rep positions do not change with the user frame.