offset or change world frame?

[cja7928]

I have an M900iA 260L with an R30iA.  the platform that this robot is mounted to is being swapped out with a platform that is 1" higher than the old.  Unfortunately the height of the platform is out of my hands.  all programs were programmed in world frame. 

Is there any way to change world frame up 1"??  any other ideas??

Thanks for your help.

[anonymous]

It can be done offline on a PC using RoboGuide/plug-ins (HandlingPro, PaintPro, etc.), and it can be done using the Frame Offset utility via the teach pendant.

To bring up the Frame Offset utility screen, press MENUS, choose UTILITIES, press F1 [TYPE], and finally choose Frame offset from the pullup menu. This utility allows you to translate positions between user frames.

[joker]

Of course that is a easy way. Have You got frame offset i MENUS->UTILITIES? If yes then change program from UF:0 to any other which You want.
Other way. Make ascii backup, change on PC or laptop UF:0 to any other with the same values and after translate to *.TP and load on controller.
After You can change Your new frame to any other demand value.
Do not touch world frame. Leave it like it is.

[URoBoTICS]

You Cannot Change World Frame...only User Frames and JogFrames! Can you do a program adjustment?

[cja7928]

To bring up the Frame Offset utility screen, press MENUS, choose UTILITIES, press F1 [TYPE], and finally choose Frame offset from the pullup menu. This utility allows you to translate positions between user frames.

Does this change the frame for all programs in the controller?  looks like on the first page (1-6) you can select a program, range, new program.  and then on the second page (1-3) you can select old frame, new frame, and convert position data.

[anonymous]

The Frame Offset utility works per program. It does not affect any frames in the robot.

If you want to modify the position of a user frame (with respect to the robot's WORLD), go into Frame setup via the teach pendant (MENUS -> SETUP -> F1 [TYPE] -> Frames -> F3 [OTHER] -> USER).

In your case with the Frame Offset utility, old frame is UF:0 (WORLD) and new frame is your choice (UF:1 through UF:5).

Get a feel for the utility. Do a little testing. After you translate the program's positional data to a different user frame, modify the location of the frame and observe all the positions move with the frame.

Be advised that when you move the location of a user frame, all programs whose points are taught with respect to that user frame move when the frame moves. That is to say, user frames are "global" entities.

- anon

[fanuc_insider]

why not just use the program adjust and move the entire program by 1in. Takes about 30 seconds.

[joker]

Frame offset will not take more than 30 second. It is very easy, old frame 0, new frame 1, convert yes. Choose only a new program name and whole area of frame exchange.
Should work without any problems. As I understood You want to change program from UF:0 to UF:1 then for what changing anything in frame coordinates? Anyway You cannot make it for world frame in Frames screen. It is a 'nilpos' and You can find it in variables, but do not change it (only my stupid opinion of course). This is not a good way.
Program adjust is good when is not so complicated path, in my case for example it gave not so brilliant results.

[cja7928]

I will give it a try - thank you all.

[fanuc_insider]

It depends on what the user wants. Programs were written in world frame does user want them to stay in world frame? move the programs using the the program adjust.

Does user want to inject more user frames into the programming?  Move the programs into another frame I guess.

Personally getting into more frames when everything is so simple by using world frame doesn't make sense especially when that said user is here asking for help.

Keeping everything very simple and as it is would be the easiest solution. Moving the programs by 1 inch is the easiest solution.

[joker]

I still do not understand for what You want to move program by 1 inch?
If You have frame1 with some coordinates (world frame for example) and You want to have it in frame2 (car frame for example) You will move the program by adjust??
If You make frame offset then after in program frame1 for example is not existing anymore. Maybe I missed something but program adjust for complicated path is not giving good results.
But anyway it that case easiest is to translate the program to *.PE/LS, change UF:0 to UF:(demand number with the same coordinates) and translate back to *.TP.
Load on controller and it will work.
Perhaps I really did not understand the meaning of You solution then sorry.

[onur_tr]

If you cant solve frame conversation, move the robot to the points step by step.. In world zone representation, change the z value of the point to 1" higher.. it will take time..

[potis]

if you were using palletizing robot the easiest way is to change the tool frame.
but since the robot is 6 axis then you must play with user frames as suggested above.

[flatcurve]

It depends on what the user wants. Programs were written in world frame does user want them to stay in world frame? move the programs using the the program adjust.

Does user want to inject more user frames into the programming?  Move the programs into another frame I guess.

Personally getting into more frames when everything is so simple by using world frame doesn't make sense especially when that said user is here asking for help.

Keeping everything very simple and as it is would be the easiest solution. Moving the programs by 1 inch is the easiest solution.

using more frames would make sense if there's more than one fixture in the cell. Today it's the robot stand that's moving, but tomorrow it could be one of the fixtures. If the fixtures don't move relative to each other, no amount of program adjust will fix it.

If it were me, I'd take the time to go through and add all the frames just because I'd hate to have to go through this program adjust junk every time the smallest thing changed. With user frames, it's just touch-touch-touch and you're done.

[cja7928]

the cell has 3 fixtures it deals with and around 300 tp programs.  All was programed in world and  very few pos reg were used..... was just hoping there was some trick to move everything up in one shot.  I appreciate all the input.  thanks.