December 19, 2018, 12:01:30 AM
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 Fanuc R-30iB robot cell relocation


Author Topic:  Fanuc R-30iB robot cell relocation  (Read 323 times)

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September 22, 2018, 02:06:13 PM
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sndgo



We have a fanuc R-30iB robot cell that we are planning to relocate to a new facility, the robot is on an RTU controlled by the 7th axes.
How does the robot needs to be prepared before transportation and what is required to install it back in the new location?

Thank you

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=28540.0

Today at 12:01:30 AM
Reply #1

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September 22, 2018, 11:30:19 PM
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Fabian Munoz

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I dont know your setup, I can't even imagine it but this is what I would do (and I do in regular basis)
BTW, I hope you have user frames defined

Anyway, IF it is possible Put a pointer and the end of your EOAT.
Create a program that touches critical points with your pointer on the machinery that is going to be removed.
For example, if the robot has a table in front to if, teach a point a the bottom and at the top of two leg. With this you will record angles, distances,etc,etc

Try to make you program like this

move j  close to point
move l  an inch from the point cnt1
move l to the point  fine
move j away

The main reason for the inch point is to prevent that you crash when you go to the point. So basically you have an each error margin

Let me refresh that  "The mechanical assembler has 1 inch of error when he puts the table back in place" and trust me, he would tell you that the table is in the right place by the dimension he took before machine was moved
Relax and very calm tell him that the robot has a .005" accuracy

somar

September 24, 2018, 02:14:16 PM
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sndgo


Hi Fabian,

Our cell is big with many devices each defined with a user frame, I also have a program for each user frame points.
I wonder what would be easier to install all the devices back in the new location if using the user frame programs or to update the user frames once the devices are installed?
Also will the robot need to be re mastered when re installed?

Thank you

September 24, 2018, 04:35:21 PM
Reply #3
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Fabian Munoz

Administrator
Hi

I shipped many robots (200+) and I never had to remaster them

I think is impossible to put the machine back exactly where you have it.  You will have to touch up your UF, but one thing is adjusting few mm and another thing is adjusting few cm.
You have to consider that the motions will change, so you might not reach or go through singularity
Anyway, answer you question, Y think the robot should go first the move the machine in place. Obviously if you have a 10 ton CNC machine, you are not going to be able to push it a couple of mm


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