How to shift a frame

  • Hi,I am a newer in Fanuc...Recently,I have to do a job--it is to shift a frame :confused_face: (like the geometric operator ),can anyone tell me how to do it in Fanuc Robot.Thanks very much!!!

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  • It depends on what you are trying to accomplish.


    Are you trying to translate a program from one frame to another?

    Do the points in the frame need to stay relative to the original frame (i.e. stay fixed in space), or be transferred in space to the new frame?

    Are you just adjusting an existing frame?

    Like neighbour1 said, is this for a user frame, or a tool frame? Or both?

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    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

  • Nation i am having same problem, hope you can guide me.


    I need to translate a program from one user frame to another one.

    And points needs to be transfer to the new frame as well.


    how to do that?

  • Thanks for advice to use Frame Offset option under utility. It actually worked well, but...

    table motion is not along with that...


    Let say, by using frame offset, i was able to copy program from T1 to T2. And now am running the program on T2 table. Robot is moving fine with that but table T2 is not rotating according to robot motion, instead of that Table 1 is rotating.


    Any advice on that??


    thanks in advance.

  • Well, the fact you have multiple groups complicates things.


    I believe there is a group change utility, in the same menu as the frame offset.


    You would then change the group on your user frame transferred program.

    Check out the Fanuc position converter I wrote here! Now open source!

    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

  • also during userframe offse, there was option of motion group...i have attached pic below...

    i guess it is linked with the rotation of table? do i need to do something here? any idea?


    everything works find except table with below setup.


    First Step:


    IMG_6604_Taral%20Patel.jpeg


    Second Step:


    IMG_6603_Taral%20Patel.jpeg


    Third Step:


    IMG_6605_Taral%20Patel.jpeg


  • Group Mask change:

    IMG_6598_Taral%20Patel.jpeg

    IMG_6599_Taral%20Patel.jpeg



    also during userframe offse, there was option of motion group...i have attached pic below...

    i guess it is linked with the rotation of table? do i need to do something here? any idea?


    everything works find except table with below setup.


    First Step:



    IMG_6604_Taral%20Patel.jpeg


    Second Step:


    IMG_6603_Taral%20Patel.jpeg


    Third Step:


    IMG_6605_Taral%20Patel.jpeg

  • More info from operational Manual:


    Table Cart

    The cell has two servo controlled tables, these tables are controlled from the Fanuc robot programs. The servo tables are mounted to a cart that shuttles the tables in and out of the blast cabinet. This cart is controlled by the PLC and a DC drive in the electrical panel. The cart is designed so when one table is in the cabinet (Blast Position) the other table is out side of the cabinet (Load Position). The cart can be controlled in automatic or manual mode.

    Servo Tables

    The servo tables are cortrol from the robot program. These table can operate in two modes, in position mode the tables can be programed as a 7th axis of the robot to position the table in any position 0 – 360 degrees, In CTV mode (Continues Turn Velocilty) the table can spin

  • Also, was able to find the group mask as below:


    Table 1: 1,1,*,*,*,*,*,*

    Table 2: 1,*,1,*,*,*,*,*


    now, i used Frame offset and converted program of Table 1 to Table 2.


    and then was trying to change group mask from [1,1,*,*,*,*,*,*] to [1,*,1,*,*,*,*,*] though "GROUP EXCHG utilities. While executing it was showing Group 3 does not exist.

  • That is probably because your turntables axis are both on the 2nd motion group, declared as axis1 and axis2.


    The group exchange uttility I do not remember if allows to interchange an axis for another one, I do not think so...


    You may need to extract that .tp file from the controller, convert it to .ls format, then go to the point declaration part and exchange the group 2 axis manually on all points from A1 to A2. Finally convert the .ls to .tp again and load it.


    That is what I have done in the past while adapting programs whith servoguns, this should work the same way.

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