Hi all,
New to both this forum and Fanuc robots, so I apologize if I dont use all the proper terminology.
I have been going through the online book "Robot Whispering" and am having issues with setting UFRAME origins and zero-points in relation to them. On my first attempt I was able to jog the robot to a random point, go into UFRAME setup, choose UFRAME 1, and save it using the 3-Point method. After this I was able to go into the position registry (while in UFRAME 1) and save a point with all axis set to 0 (PR-50 in this case). From here I was able to choose the 'moveto' option on PR-50 and the robot would work as intended, being able to go the UFRAME origin I setup. I then did the exact same setup with UFRAME-2. After this I was able to make a very simple program, calling out UFRAME-1 and then the PR (PR-50) and have it move to the origin point, then call out UFRAME-2 and then again the PR (PR-50) and have it move to the other origin point. Perfect.
Now this is where things went wrong. I was just testing origin points before to get a grasp on it, now I wanted to setup some useful origin points. So I deleted my program, cleared PR-50, and cleared both UFRAME-1 and UFRAME-2. I then did all the same steps that I previously did to setup a new UFRAME-1 and PR-50. This time, and everytime after, no matter where I place the origin point, I get the error "MOTN-018" when using PR-50 'moveto' and the robot will not move. It WILL move if I go directly into the UFRAME setup and use the 'moveto' option on that screen. I have tried many origin points, I have made sure I am in the correct UFRAME, I have also tried changing the PR-50 into a joint instead of cartesian, but the error remains the same no matter what.
Searching online for answers has gotten me nowhere. Any help is greatly appreciated. I can provide other information on the robot I am using if necessary.
Fanuc SR-3iA Issues with User Frame origin points
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IreshCreem -
December 19, 2023 at 10:14 PM -
Thread is Unresolved
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HawkME
December 19, 2023 at 11:11 PM Approved the thread. -
When you get the alarm, press shift+Coord.
Do you have the correct UTOOL and UFRAME selected?
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Yes I do
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Try manually jogging into position and touching up that PR with the correct UF and UT active.
Most likely you have the robot in a bad orientation and can't do a linear move to the PR. Move to on PR always does a linear move.
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Thank you for the help and fast responses. It seems the issue ended up being me having put ALL the axis to 0 in the PR. After changing only XYZ to 0 and leaving W and R alone it seems to work reliably now.
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With a Fanuc SCARA robot, all Cartesian points need to have W= +/-180°.
Rotation shouldn't matter.