JGFRM for Tool

    We are setting up passwords at our Weld Engineer's request to limit the ability of general Tech's from touching up the rotation of weld point, only allowing them Cartesian adjustments. Unfortunately, the only way to do this built in is with the JGFRM option in the password configuration. This limits them to a Cartesian move, but also effectively sticks them in the user frame instead of the tool frame, which they prefer.

    I had a thought, that since the JGFRM is based on a User Frame, it should be possible to have a BG Logic program looking at the tool and redefining the user frame based on that at all times. Is that possible? I would need to use 3 PRs in the current User Frame with Tool Offsets in the current Tool Frame, and set them to the System Variables defining a User Frame, i believe.

    Has anyone done anything like this, and do you have any suggestions to accomplish this?

    Setting the system variable $SCR_GRP[1].$coord_mask=8 limits the jogging choice to Tool Frame only.
    There is a bit defined for each coordinate system allowed:
    Bit 0=1dec=Joint
    Bit 1=2dec=Jog Frame
    Bit 2=4dec=World
    Bit 3=8dec=Tool Frame
    Bit 4=16dec=User Frame.

    Is this what you need?

    Do it well right away. It will become bad by itself.

    Not exactly.

    We are putting in two password levels, one for general technicians and one for special weld techs. The desire is that normal techs will be able to do positional touchups only in cartesian directions, but not be able to rotate the weld torch (we have had issues of individuals without welding knowledge or experience contorting the robot to reach where they wanted, but producing a terrible quality weld because of the angle). We want the weld techs to have full control.

    All of the techs typically want to jog the robot in tool coords, as it is easier and faster for them, knowing it is relative to what they are currently seeing.

    Then problem is, FANUCs password setup does have an option to restrict the user from performing rotations, but it forces them to only work in JGFRM. JGFRM, near as i can tell, is just a user frame that does not get taught with the points in the program. This is convenient so that you do not change the User Frame and accidentally teach a non compatible point in a program, but it is static to the world, rather than following the tool.

    If the JGFRM references a specific user frame, i would like to have a simple program that would pull current LPOS into a PR, then set that PR to the User Frame, then in my mind, the JGFRM would then be moving relative to the tool.

    I tried this yesterday evening, but i did not have much luck. It definitely set the User Frame correctly, it just didn't seem to behave as expected. Will need to do more research into how the JGFRM references a User Frame. Also looks like the necessary commands are not usable in BG Logic with all the groups masked out. May look into macros?

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