I am trying to adjust a paint path that uses conveyor tracking but noticed that the robot is not aligned to the conveyor. It has 0.463 degrees of rotation in Z axis. is there a way to set up some frame to compensate the misaligned robot, instead of physically rotate the robot?
FANUC P-250 NOT FOLLOWING UN PARALLEL CONVEYOR
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armando_m_r -
July 5, 2018 at 1:06 AM -
Thread is Resolved
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I am trying to adjust a paint path that uses conveyor tracking but noticed that the robot is not aligned to the conveyor. It has 0.463 degrees of rotation in Z axis. is there a way to set up some frame to compensate the misaligned robot, instead of physically rotate the robot?I'm not familiar with the p-250. I imagine it uses the same or similar software as the other fanucs. Can't you set up a tool and/or user frame? What controller does it use?
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I have an R-30ia controller. Th program is already done but I find out the conveyor is getting close to the robot as the part travel forward. I have never done a frame to solve that. i tried yesterday to modify the user frame 1 by only manually entering the angle i got from calculations in the R axis, but didn't make any change.Thanks for the additional help.
Refer to section 3.1 of the R-30iA handling tool documentation. That explain how to set up frames. Also, someone correct me if I'm wrong but, even if you go create a frame, the points that you've already created won't be updated, even if you switch to the created frame and touch them up. You'll have to create new points while the new frame is selected. However if you switch over to user/tool (whichever type you created) while jogging, the robot axis should move in reference to the conveyor, allowing you to create 'perfectly' aligned points. Don't forget to switch the user/tool frame number in the program before the news points, and switch it back to the other frame after. Another option would be to shift the point's using the Prog Adjust or Program Shift utilities. I would still create the frame for future use. PM me if you have any more questions.
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Refer to section 3.1 of the R-30iA handling tool documentation. That explain how to set up frames. Also, someone correct me if I'm wrong but, even if you go create a frame, the points that you've already created won't be updates, even if you switch to the created frame and touch them up. You'll have to create new points while the new frame is selected. However if you switch over to user/tool (whichever type you created) while jogging, the robot axis should move in reference to the conveyor, allowing you to create 'perfectly' aligned points. Don't forget to switch the user/tool frame number in the program before the news points, and switch it back to the other frame after. Another option would be to shift the point's using the Prog Adjust or Program Shift utilities. I would still create the frame for future use. PM me if you have any more questions.From my dealing with Fanuc robots that is absolutely incorrect. I recently setup a robot that picks parts off a pallet on a conveyor. When the conveyor is moved you have to reteach the user frame. We designed the pallet so you can install 3x 100mm pointers so you can do a 3 point setup. Once you re calibrate the userframe you can pick up all parts off the pallet without touching up the locations.
Since your points are taught off a Userframe and a TCP if you change either, all points referencing them will be updated also.
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From my dealing with Fanuc robots that is absolutely incorrect. I recently setup a robot that picks parts off a pallet on a conveyor. When the conveyor is moved you have to reteach the user frame. We designed the pallet so you can install 3x 100mm pointers so you can do a 3 point setup. Once you re calibrate the userframe you can pick up all parts off the pallet without touching up the locations.
Since your points are taught off a Userframe and a TCP if you change either, all points referencing them will be updated also.
What I'm referring to is if you touchup points that are already made, into another uframe, their coordinates remain the same (xyz and pitch numbers change, but the literal point in space is the same). However, I believe you are correct with what you said
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Armando:
When you use conveyor synchronization option you define the direction!
Go to setup and check the conveyor synchronization parameters
You usually define the direction by teaching two points
This should solve your tracking problem
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Thank you all for the responses, we already moved the robot to be aligned to the conveyor and re teach the points. but is interesting if we can try all the suggestions. I will try to make both teach the new user frame and to re teach the conveyor tracking for the encoder and will let you know the results.
Thanks for your help again.
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Software options are designed to make things easier, not to make things difficult!
The conveyor synchronization provides a calibration procedure to teach the conveyor direction accurately
Aligning the robot mechanically is more complicated and not accurate
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Hello Armando, on the Controller Line tracking setup and operations manual, in chapter 3-20, It shows you how to set up a nominal tracking frame. I hope this reference can help with future projects
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