Hello,
im new using Fanuc robots, these robots are P-200 with RJ-2 controller.
I have existing programs for painting automotive parts using spray gun as a tool and i am going to change to different spray gun, my question is:
Can i replace easily the Tool frame in the existing programs or i need to create new ones (programs)?
I already created the tool frame and tried to change the Tool in the existing programs but i get this error:
INTP-251 (TOOLREF1,1) Invalid utool
INTP-106 (TOOLREF1,1) Continue request failed.
Change uTool in existing program RJ-2
-
FrankMV -
January 7, 2019 at 5:20 PM -
Thread is Resolved
-
Hi FrankMV
To change the toolframe, you use the UTOOL_NUM command. You can use it before the command to execute a motion with this toolframe and you can change the tool number wherever you want inside your code.
Code1: UTOOL_NUM = 1 ; -
If you want to do the same trajectories with two different tools try this:
load the tool to use in a PR
PR[2]=UTOOL[2];
.. OR
PR[2]=UTOOL[3];
then load the PR into the TOOL of the program
UTOOL[1]=PR[2];
UTOOL_NUM=1 ;
Advertising from our partners
