Why does my fanuc robot default teaching in joint?

  • I have a Fanuc R30iB controller on a LR Mate 200iD and occasionally when people go to touch up position register points, it switches the taught points from cartesian based to joint. This causes problems when it creates offsets based on those points because instead of 100mm on Z axis, its 100 degrees on J3.


    Does anyone know why this is happening or how to fix it?


    Thanks

  • AD
  • Sorry I can't answer your question, but I always warn people not to flip configurations for this exact reason.


    When the robot does a 100° J3 offset, I always think the robot just wants to be free. "Free Willy!"

    • Helpful

    Check the following system var:


    $JPOSREC_ENB - when '0', new points will be recorded in Cartesian coordinates (XYZWPR), when '1', new points will be recorded in joint (angular)


    I'm not sure if it would affect position registers though.

    Check out the Fanuc position converter I wrote here!

  • Check the following system var:


    $JPOSREC_ENB - when '0', new points will be recorded in Cartesian coordinates (XYZWPR), when '1', new points will be recorded in joint (angular)


    I'm not sure if it would affect position registers though.

    Well, I tried that and it was already set to 0, but that is a good setting to know about!

  • Hi,


    A solution from Fanuc to guarantee the type of offset you apply (Joint or cartesian), regardless how your positions has been taught:


    1 : Initialize a PR with the following code :

    PR[xx] = LPOS //--> Cartesian offset

    or

    PR[xx] = JPOS //--> Joint offset


    2 : set all PR data to 0

    PR[xx] = PR[xx]-PR[xx]


    3 : Setup your offset values

    PR[xx,3] = 100 //--> Depending on your1st line of code, apply +100mm in Z axis or +100° in J3 joint


    4 : Use OFFSET PR[xx] or TOOL_OFFSET PR[xx] in your move instructions

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