TOOL_OFFSET VS TOOL_OFFSET,PR[...]

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    HI all,


    I'm sure this is a silly question for Fanuc experts, but what is the difference between TOOL_OFFSET VS TOOL_OFFSET,PR[...]?


    I completely understand how to use TOOL_OFFSET,PR[...], but I don't understand what TOOL_OFFSET is or how it works. I see no way to indicate which direction I want the offset to be here. Is it used in conjunction with tool offset condition? If not, what the hell is tool offset condition also


    Thank you, ABB background and struggling to get to grips with Fanuc :loudly_crying_face:

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    TOOL_OFFSET is like TOOL_OFFSET, PR[...], except you have to define what PR it is looking at earlier in the program.

    Useful if you have a ton of tool offset points in program, and you want to change what PR is doing the tool offsetting.

    I personally never use it.

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    • New

    Ok, I understand. So you would use this where you would have a lot of tool offsets and if you wanted to change which PR they are relative to either manually or programmatically, you would only need to change it in one place as opposed to each line.

    How do you define the tool offsets, is it in conjunction with tool offset condition? I’ll play around with it tomorrow anyway.


    Thank you for the response.

    • New

    Here is what I do:

    Code
    :PR[95:Tools Offs]=LPOS-LPOS ;
:PR[95,3:Tools Offs]=(-100) ;

    The above code zeros out PR95, and ensures it is in Cartesian representation (you don't want to do a tool offset in joint rep), and then sets the z component to -100mm. when used in a tool offset motion modified, will cause the robot to move to that point with a -100mm offset in tool Z.

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

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

    • New

    To use "Tool Offset" as a motion option (the one without direct reference to a specific PR) you first need to define which PR to use.
    This is done with the "TOOL_OFFSET CONDITION PR[]"-instruction, much like you would do whenn using the SKIP-instruction.

    So, put the "TOOL_OFFSET CONDITION PR[]"-instruction at the top of the program, then choose which PR you want to use, and then go to town with adding the "Tool Offset" motion option in your motion instructions.


    But I agree with the others that it's better to use the "Tool Offset, PR[]"-motion option.

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