I am in need of assistance with mirror image. The paint line I am trying to preform the function on paints parts on two sides of a floor mounted conveyor. RHRO robots on one side LHLO on the other. We have done a few trial runs with various results none even close to successful. We have tried with rotation on and off neither with any success. Is there anyone who has had success with mirror image and can you explain the process? If any additional details are needed just let me know.
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dhays00,
Mirror image programs in paint are not created using a utility such as mirror image shift; instead, mirror image programs are the direct result of properly configuring and teaching the paint robots.
It is important to mirror the robots both mechanically (P200, J2 offset and gun mounting) and in software (robot "handedness," i.e., left-hand or right-hand coordintate sytem).
Normally the robots are mounted along the conveyor such that the outer arm of each robot will be at a right angle to the conveyor if the robot is postured at its mechanical zero position.
Be sure that you master the robots as best you can prior to performing any tool frame or tracking setup -- if applicable.
Step 1) Determine the robot coordinate system ("handedness"): Stand beside, above, or below the conveyor, facing in the direction of conveyor travel looking in the direction of the robots. If the robot is mounted to the left of the conveyor the robot will need to be configured with a left-hand coordinate system -- this is not to be confused with the arm offset; conversely, if the robot is mounted to the right of the conveyor the robot will need to be configured with a right-hand coordinate system.
Step 2) If not done already, setup tool frame #1 in one of the robots. Assuming that the tooling on both robots is mechanically mirrored -- as it should be, the tool frame data data can be direct-entered into the opposing robot.
Step 3) Teach the HOME program using one of the robots. Normally HOME will contain a single position using joint motion type and FINE termination type. Load the program onto the other robot. Execute the HOME program in each robot.
Step 4) If the robots are performing line tracking, the tracking frame used will be Default. In addition, the encoder scale and part detect distance will need to be entered into each robot.
Teach a test program in one of the robots -- motion programs in paint will normally have the Process sub-type or else PaintTool will not function correctly. Load the test program onto the opposing robot. Run the programs.
- anon
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Anon thank you for your response.
My robots are already setup as you have described. Maybe I didn't explain myself clearly. What I am trying to accomplish is transferring a path/program say in the shape of a { to the opposite side of the conveyor which would be presented backwards such as }. If that makes sense using the mirror image utility. I have received some documentation from Fanuc but have not had the opportunity to try it yet. Are you familiar with the mirror image utility?
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dhays00,
I am familiar with Mirror Image utility.
Let me know if the FANUC information accomplishes what you want to do.
If if doesn't, I might be able to help, as I had an unusual need to mirror tracking paths in the past.
- anon
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