Fanuc M10iD12_Robot program for Table 1 to Table 2

More detailed information would help.

What specific issues/faults are you facing?

Are the "tables" on a servo axis? If so, is that axis directly controlled by the robot? If so, are the tables in different motion groups?

Quote from TP5029

If i copy the same on Table 2 as T2_XYZ, it gives the below error:

INTP-250
INTP-252 User frame number mismatch.

You should not copy the program, but use the 'Frame Shift Utility' to translate the program to UF2. You do not want to select the option 'convert positions'.

This is also assuming you have setup your UFrame the same between tables.

That should make it pretty simple then. Use the frame shift utility (MENU > Utilities > Frame Offset).

On the second page of the setup, it will ask you what the old UFRAME is and what new UFRAME you want to use. It is fairly straight forward, but you will still have to step through the newly generated output program and touch-up points.

If I'm understanding right, you want the exact same program to run relative to whichever user frame is active? This is how I do it - keeping the values for the two frames in P[1] and P[2] then copying the appropriate value into UFrame[1]. This way you only have to maintain one program.

   1:  JMP LBL[1] ;
   2:  !UFrame data ;
   3:L P[1:Side 1 UFrame] 1mm/sec FINE    ;
   4:L P[2:Side 2 UFrame] 1mm/sec FINE    ;
   5:  LBL[1] ;

  10:  !Start UFrame Load ;
  12:  IF DI[15:Side 2 active]=ON,JMP LBL[2] ;
  13:  PR[8:UFRAME BUFFER]=P[1:Side 1 UFrame]    ;
  14:  JMP LBL[3] ;
  15:  LBL[2] ;
  16:  PR[8:UFRAME BUFFER]=P[2:Side 2 UFrame]    ;
  17:  LBL[3] ;
  18:  UFRAME[1]=PR[8:UFRAME BUFFER] ;

The way Tituslepic provided is a good one, but remember that you can also use PR instead of P points, PR points are executed no matter the frame or tool you have selected, so you must be sure to select the correct frame and tool before executing them as the robot will not throw any mismatch errors and will go there.

The only downside of using PR is that you are limited to 100 points if you do not increase them through controlled start, but they are very usseful if you do not have much points, the max number of PR is betwheen 200-300, depending on the controller.

Also, always take care with J movements when changing frames, as config and turns are honored and the robot can suddenly decide to do a full axis 4 or axis 6 turn in order to honor the config if frame locations are very far apart.

Can you post an AOA backup of your robot?

Quote from TP5029

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.

You may need to exchange the motion group. As far as I remember you should have another utillity called "Group exchange", then you should replace the T1 external axis for the T2.

I've done this on the past with servoguns but I usually opened the .ls file, changed the axis on all positions, then compiled and loaded the tp again.

Idk how turntables are handled, but on my case working with two servoguns, axis were defined on group 2 axis 1 and axis 2, so it was a matter of changing the used axis on the points manually though the text editor, the group exchange utility will probably give you a way to do this conversion just like the frame offset does without the need to export and import the program.

Quote from TP5029

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.

Quote from Shellmer

Idk how turntables are handled

I believe you need the Coordinated UFrame option for this to work properly.

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