Basic Fanuc Movement

    Hi, so I'd like to understand how something works with the robot where I work.

    The job i have to do is simple but long, we have a welding robot, and it basically has to weld hard-facing on a metal "fence", but it has to be in straight lines.

    On the table where it's installed, there's 5 fences like the first one, and the program takes about 20 minutes to complete one fence.

    I was wondering if there's any ways to change the "x" value in the program, by adding 100, as an example, so i wouldn't have to re-program it movements by movements. The distance between the fences is 10 ''. So I want the robot to complete the first one, then add 10'' to every "X" positions by adding a certain value, and start again on the second fence, then the 3rd, then ...

    To be clear, I juste want the robot to do the same welding movements, but it has to move to the right after the first fence is done

    The Robot is a CRX10iA/L, and we only have the Teach Pendant on the Samsung Tablet, but I'm pretty sure that I saw something about the "complete" Teach Pendant inside the application on the device.

    Can anyone help?

  • Nation November 6, 2023 at 9:28 PM

    Approved the thread.

    There are a couple of ways to do this.

    Add an offset modifier to each move, and add 10 to it every loop, or fence post.

    Convert the program to a frame, and then move the frame by 10 in x.

    If you post your program, we could modify it accordingly.

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

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

    Hi guys, thanks for the tips,

    Unfortunately, it seems I do not understand how offsets work. I tried to look online to understand a bit, but no success.

    I found the offset option on the TP APP but I can't give it a new [i,j] pos, the program has always an error code : INTP-242, Offset value is needed. Indeed, i know that, but I don't know how to give it a value directly from the TP APP on the Samsung Tablet.

    Also, I don't know how to export the code from the app and paste it here.

    Sorry for my misunderstanding about everything, I'm completely new to Fanuc.

    Thanks again, I hope you guys can help.

    Make an ASCII-backup of the program and then use notepad on your computer to open the *.LS-file that is output from the robot controller. Then you can just paste the code here in this thread.

    Or just take a picture of your code and post that picture.
    Or transcribe the code straight away.

    I'm not in front of a robot right now, but here's some pseudocode that will do what you want by looping and offsetting the UFrame each iteration. I know newer controllers support FOR loops, but I'm used to being forced to work with jumps and labels so that's what you get.

    Code
    PR[x] = P[1]
R[x] = 0
LBL[1]
UFRAME[1] = PR[x]
call weld_program
R[x] = R[x] + 1
PR[x,1] = PR[x,1] + offset_value
IF R[x] < number_of_fences JMP LBL[1]
END
P[1]

    Alternatively, you could use PR offsets in your weld_program after each point - P[x] motion instructions OFFSET PR[x] and just increment as shown above. That would look something like this:

    Code
    PR[x] = LPOS
PR[x] = PR[x] - PR[x]
R[x] = 0
LBL[1]
call weld_program
R[x] = R[x] + 1
PR[x,1] = PR[x,1] + offset_value
IF R[x] < number_of_fences JMP LBL[1]
END
P[1]

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