First Timer Guidance

  • Hello all, this is actually my first time posting. We purchased an LR Mate 200iD7L a little while back with an R-30iB Controller with Handling Tool.

    I attended Fanuc Handling Tool training back in July and learned the basics of the machine and some simplistic programming techniques.

    It's now time to install the machine into the cell and write some real programs. I'm looking for some beginner guidelines or best practices that you all might recommend. Best way to organize things, should I use collections? Macros? Etc.? How many different programs should I create for individual tasks, etc.

    The basics process is as follows:
    Stacks of empty trays will flow in on a conveyor
    Robot will pick the tray off the top of stack
    Robot place it on another conveyor
    Robot pick parts from a fixture
    Robot place into the empty tray
    Repeat part picking until tray is full
    Robot pick another tray from the stack
    Robot place tray on top of the first

    Basically un-stacking and re-stacking the trays and filling them with parts. Stacks will range from 3 trays to 7 trays in a stack. Once the stack has been re-stacked, the conveyor moves it out of the cell.

    I have built and installed a "double end effector", with a gripper for the trays and then interchangeable grippers for the three style of parts.

    Thus far, I have created:
    -Tool Frames for each of my tools
    -Payload Schedules for each of the tools, when loaded (part weight is negligible (grams))
    -User Frames for the Tray Pick, Tray Place, Part Pick and Part Place locations

    See attached "mind map" of what I'm thinking would be needed for programs. Should everything except the Main Program be a Macro?

    Seems like a lot of questions, perhaps there is a cheat sheet to help guide me in the right path?

    Thank You!!!

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  • You have a good approach of breaking down tasks into seperate smaller programs and mapping things out ahead of time.

    Each program can be a normal program. You shouldn't need to use macros very often.

    You can break out the gripper open/close into little macro programs if desired. A macro just allows you to specify an alternate way to run a program, besides running or calling it from another program. Such as toggling an input.

    Sent from my SM-G930V using Tapatalk

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