How to change world orientation

Hi cenzar,

On Fanuc robots it is not possible to change the world frame (UFRAME(0)) !

Just use a UFRAME.

Or if you really can't do it any other way and you need/want to rotate by Z, then you can remaster axis 1...

best regards

The WORLD frame is fixed and cannot be changed. You can set up a Jog frame for manually jogging the robot or a User frame.

Hello,

I don't know how to do what you are asking for, but...

Why would you want to do that? I mean, world is world, X axis in front of the robot, Y axis to the sides.

If you want to change 90º the world, why don't just use "X+" instead of "Y+" and "Y+" instead of "X-"? Z+ remains the same.

Also, You can always create a UserFrame with coordinates 0,0,0 + 90º rotation.

If disagree. If you made the world frame different than all other Fanuc robots, then every Fanuc robot programmer would be in for a surprise.

Use user frames. And if you like, you could set that to the default jog mode with BG Logic on startup.

You can rotate the worldframe.

Just rotate the base of the robot, the worldframe will rotate with it.

Quote from cenzar

Hello,

Did anybody change world position maybe?

I browsed Fanuc documentation but I haven't found anything. I need to change world orientation about 90 degrees.

Thanks for any suggestion

I can add that If you want to install the robot to the wall then you have to set the Sys Variables. Old thread about it:
System Variable ideal settings for Upside Down Fanuc Robot

Be careful here.

I have seen this done to good effect for one (and only one that I have known so far) reason. And it was implemented before any programming occurred. And I am not talking about P- series Paint robots.

The plant was a power train type plant. Many of its robot installations had 2 Fanuc robots sharing the same linear rail. Each used the subgroup of G1 (for example G1S JOINT to jog the robot back and forth on the rail) for the 7th axis. The rail was elevated about 2 meters above the factory floor. The rails were often very very long.

Due to the base cable management requirements (cat tracks) of these 2 Fanuc robots on very long rails, some of these robots would face each other when run to 0 degrees on all axes, as initially mounted.

But all of the machines that the robots tended were only on one side of the rail.

So they performed Single Axis Master on both robots while all witness marks were accurately aligned. But in the “Master Pos” column of J1 within the Single Axis Master window, they entered a 90 for one of the robots and a -90 for the other.

This worked because the direction of J1 mathematical axis coincided with the direction of WORLD Z for both robots. This had the effect of “twisting” both robots’ World frames so that their +X directions both pointed toward the milling machines they were tending. It left the origin point of the World frame right where it belongs (in this particular case at a certain point on the linear rail that was agreed upon), but twisted the World frame’s orientations about/around the Z direction.

All of this was done before any servomotion programs were taught.

They also taught all local positions in all programs from UserFrame[1], an exact duplicate of the “twisted” World frame, full of zeroes, and as part of their local Engineering Standards. A very interesting solution.

I think it is unlikely that Fanuc has documented this anywhere, and it just comes from certain Engineers’ deep understanding of what mastering actually does. I was very surprised when I first discovered it, but I am grateful to those smart Techs and Engineers.

Quote from USURP_RUR

They also taught all local positions in all programs from UserFrame[1], an exact duplicate of the “twisted” World frame, full of zeroes, and as part of their local Engineering Standards. A very interesting solution.

Depends on application, but as a general standard I would say it's a stupid solution.

The only reason for their solution with remastering 90 deg rotated I can imagine is, that they can copy programs and positions 1:1 from one robot to the other. With standard mastered robots and 90 deg rotated uframes one will have to change configuration of the positions while copying positions.

From a maintenance perspective it's not a good idea. I've done repairs and restored controllers after replacing a CPU. This is where the problem comes. How am I supposed to know it was mastered 90 degrees off? Most of the time end user doesn't have their software or backups. It's frustrating and depending on who does the repair will depend on how long it takes to figure out someone decided to master 90 degrees off. It's happened to me many times. The end user throws a fit at the repair guy and it's not even his fault. Like he has some crystal ball in his tool box.

You can go to controlled start and call it an upsidedown robot if need be. Other than that just use a user frame (other than '0') pointing in the corect direction. W,P and R determine the orientaion of the user frame