Yes, the end effectors are identical welding tips. I'm not familiar with the utilized payload schedules though--how do I check those?
Posts by todospreston
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Correct, UFRAME is defined relative to the part, which is why I supposed it should be straightforward to transfer the program between robots. After re-teaching UTOOL it's closer, but still off. I compared a known point in my program between the two robots and while the position data is the same on both in relation to UFRAME (within +/- 0.01mm), the second robot is clearly off by roughly 16mm.
Using the program shift utility sort of worked on a small test program...most points were successfully shifted to their correct locations (or at least close enough to easily touch up), but some points the robot arm would go way out of it's way to rotate to a new orientation and would risk hitting the part. Is there something I can do to reduce unexpected movements of the arm when I copy a program and shift it?
Can you explain what you mean when you say an axis might be mastered differently between the robots?
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Thanks, I will double check the UTOOLs and compare a known point on both robots.
Regarding your edit, there is a little bit of a difference between the two cells in terms of where the robot is in relation to the part. When everything is set up there's probably a 6" lateral difference and a small height difference as well between the locations of the parts in each cell. However, the fixture used to teach UFRAME in both cells is in exactly the same location in relationship to the welded part.
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Even if the user frames are the same on both robots? Is there any other way to copy a program without having to touch up points? Or at least, something else I can do to minimize the offset so it requires very minor touching up?
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I have two Fanuc Arcmate robots and have been trying to copy a program from one robot to the other. We finally found some memory cards and adapters that worked so the program does transfer to the other robot, but when it runs it's not quite lined up right even though we set the User Frame to the exact same position on the part on both robots. The copied program on robot #2 runs slightly offset (by a few inches) from where it should run. The XYZ directions are correct so it appears the origin is off somehow.
Are there other system variables or settings that should be copied over besides the TP program itself? Is there something I'm maybe missing when setting the User Frame up?
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My boss had two old Fanuc Arc Mate robots he purchased used and I'm helping his crew learn how to use them better. I finally got a memory card to work with the RJ3 controllers and plan to use that to transfer programs between the two robots and to back up files, but it would be nice to be able to connect a laptop to the robots as well. After much research it seems like the only way to do that is through the RS232 port with the kfloppy software from Fanuc (if there's another way, please let me know!) Is there anyone who has a spare copy of kfloppy that they might be able to send me? Thanks in advance! New to this forum but it's been extremely helpful over the past week as I've been trying to learn these robots.