Fanuc ARC Mate 100iD - removing the axis from the point

    • New

    Hello guys!

    I wonder if there is a way to remove the axis from the point.

    For example, I have a 7th axis that is not important to me for a certain position and I would like not to record it at all at that point. That 7th axis is under the same group as the robot.

    I would like to test that the robot goes to the cleaner and uses its six axes while cleaning and making the seventh axis drive the robot on the track during cleaning.

    (Maybe with "RUN CLEANER" and "RUN DRIVE")

    It will be more easier to do it like that than making same points with cleaning and driving in my opinion.

    Maybe not the best solution because of possible collisions, but I am very interested in whether it is possible to configure a point without one of the axes.

    Thank you!

  • 95devils February 5, 2025 at 11:15 AM

    Approved the thread.
    • New

    Not really sure what you're trying to accomplish...

    Why not just let the 7th axis have the same value when it's supposed to be not moving?

    I suspect that once you add an additional axis to a motion group, then each position needs to have data for all axes in that group. Otherwise, it will throw an alarm when you try to use it in a motion instruction.

    • New

    Hi,

    Isn't possible to configure a point without an axes, here the extend axis. however, you can set the same position of you E1 all the times, in running the robot's conveyor will not move anymore.

    Go to P[1]--> P[2]

    P[1]{
    GP1:
    UF : 0, UT : 1, CONFIG : 'N U T, 0, 0, 0',
    X = 100 mm, Y = 0 mm, Z = -0 mm,
    W = 0deg, P = -0deg, R = 0deg,
       E1= 1500 mm
    };
    P[2]{
    GP1:
    UF : 0, UT : 1, CONFIG : 'N U T, 0, 0, 0',
    X = 200 mm, Y = -0 mm, Z = 0 mm,
    W = 0 deg, P = -0 deg, R = 0 deg,
    E1= 1500 mm
    };

    For avoid the collision, you can use offset for set the right position of you robot on the E1, below an example

    Code
     PR[GP1:98:Actual_pos]=JPOS  
   PR[GP1:99,7:Set_7th_Axis]=PR[GP1:98,7:Actual_pos] +add value for collision avoid     ;
   

  J P[1] 50% FINE Offset,PR[99:Set_7th_Axis]    ;
 J P[2] 50% CNT30 Offset,PR[99:Set_7th_Axis]    ;
 L P[3] 800mm/sec FINE Offset,PR[99:Set_7th_Axis]    ;
    • New
    Quote from gpunkt

    Not really sure what you're trying to accomplish...

    Why not just let the 7th axis have the same value when it's supposed to be not moving?

    I suspect that once you add an additional axis to a motion group, then each position needs to have data for all axes in that group. Otherwise, it will throw an alarm when you try to use it in a motion instruction.

    Yes I know that position needs to have data for all axes but Im sure that there is some way (maybe function w karel) to customize it.

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