Good evening/morning everybody
I have a fanuc robot wiht rj3ib controller all the positions in the program are correct except the final position to fix the tube in vertical direction between two tailstocks is not correct.
I tried to change PR by hitting the shift key wtih record but when I run the program in automatic the robot still keeps the wrong position(no difference).
how can I adjust it ?
what is the pest way to do that ?
incorrect position
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programmer0011 -
April 20, 2019 at 10:32 PM -
Thread is marked as Resolved.
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The PR may be written over in the program. You need to search through, working backwards from where it is used and see if that PR is assigned a value. Then you will see how to adjust it.
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thank you so much .
I joged the robot to the correct position but when I tried to save the new correct position to PR43 I got this message ( it has been recorded to the position register) unfortunately didn't keep the new position. -
Can you post a copy of the programs?
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You need to touch up PR[44], as those values are being written to PR[43] in line 29 of your posted code.
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it has been changed but the line 57 in the program became up in the position.
it will cause a crash -
If you read through your program you will realize that the position registers are set equal to each other at various lines in the program. So by touching up PR[44] it adjusted other positions as well.
I assume the original program had an intended location to teach PR[44] but you may not know where that is supposed to be. You can also see there are various adjustments made to individual PR's throughout the program. Do you have access to the original programmer or any instructions that they left?
To correct it you will just need to work through the program. Also, since PR's are global, touching them up may affect other programs on this robot. Before changing any PR's you should make sure you understand how they are being used and the overall program structure.
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thank you HAWKME
last question :
what is the best method to save the position to PRs ?
I did this method after jog the robot to the correct position
DATA>F1(TYPE)>POSITION REGISTER
cruiser to the PR which needs to be changed then press SHIFT+RECORD
then switch off and on again after some seconds
but when I run the robot in automatic it goes to the old wrong position. -
HI
What Hawkme told you is correct.
Your PR 44,43,42 and 41 are completely related. You can not touchup them up because they depend on PR44.The solution for PR43 is to add a line were you modify PR43
Based on what you say, your program works until line 63, then leave it but before the L PR53 put the value in for example PR50
PR 153 = PR 53
fix PR 153 adding the object and on line 64 replace PR53 with PR 153
Your program doesnt change at all except for your new point.
You might have a problem going backwards with PR 42 and 41, then use the same tought , after 153 , move to 53, then 52 ........This is not the best solution but it is one of them
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thank you so much
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Touching up PR43 would not do, because it is re-defined at (program) execution time.
I think registers R193, R194, R195, R199,R200 are meant to adjust your position PR43
Just move the robot in USER Frame check the difference between the PR43 and the desired positionModify the registers as required
PR41 and PR42 are just way pointsThe base position is PR44, I wouldn't modify this one.
If you modify PR44 , then you MUST zero all registers R193,R194,R195,R199,R200, because no adjustment is needed.Just make a backup of your program before any changes suggested here
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thank you for your reply
I already have back up
I will try with regieters -
thank you for all
thank you HawkME,Fabian Munoz,Racermike123 and robotero.
I adjusted the position with R193,R194 and R195