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FANUC ROBOT - USERGUIDE

Luka Selak, december 2017

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JOINT FRAME C. S.

JOINT coordinate system is coordinate system of individual axis. Each axis rotates
around its rotation center. JOINT c.s. is predetermined and cannot be changed.

What happens if J3 is moved in joint c.s.?

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CARTESIAN C. S.

The robot position in Cartesian c.s. is described with position coordinates x,y, z and
rotations w, p, r.

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CARTESIAN C. S.

Right hand rule may be used for axis designation and axis rotation.

How moves the robot in C.c.s.?

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WORLD C. S. AND TOOL C. S.

The world coordinate system is predetermined and cannot be changed. Based on


WORLD c.s. USER AND JOG c.s. are defined. The c.c.s. origin is in the center of the
second axis.
Tool c.s. defines position of the tool center (TCP- tool center point) with respect to
the flange center.

TOOL coordinate system

WORLD coordinate system

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USER C. S. AND JOG C. S.

USER c.s. is set manually by the user. 9 coordinate systems is predetermined. In


USER coordinate system the origin and rotation are set according to the world
coordinate system.
JOG c.s. is used for easier manual robot movement in manual regime.

If the TOOL or USER coordinate systems are changed, the toolpath has to be
preprogrammed otherwise tool collision may occur.

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TOOL FRAME - TOOL C.S.

TOOL frame is Cartesian coordinate system, which defines tool center point (TCP)
and tool direction (which is normally z axis). The center point of the flange in 6th
axis is default TCP.

User defined TOOL c.s.

Default TOOL c.s.


TOOL coordinate system

TCP must be moved to the tool origin, which is specified by its geometry. The user
defined TCP is a relative distance and orientation in respect to the default TCP.
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TOOL FRAME - TOOL C.S.

The tool frame c. s. may be determined by:


- Three point method
- Six point method
- Direct entry
- Two point + Z

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TOOL FRAME - THREE POINTS
METHOD
By using three points method the TCP is defined by selecting three
points with different tool orientation.
The three point method defines just the movements in x, y, and z of
the TCP. The rotations w, p and r stay the same as in the default TCP.

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TOOL FRAME - THREE POINTS
METHOD
1. MENU
2. 6 SETUP
3. F1, [TYPE];
4. 5 Frames;
5. F3, [OTHER], then select Tool Frame;

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TOOL FRAME - THREE POINTS
METHOD
6. F2, [DETAIL], TCP screen opens
7. F2, [METHOD], select three point method
8. Move robot in Approach point 1
9. Click SHIFT and F5, RECORD
10. Repeat procedure for Approach point 2 and 3
11. New position calculate is written on the screen
12. Click PREV; click F5, [SETIND] and write the number of the Tool c.s.

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USER FRAME - COORDINATE
SYSTEM OF THE WORK PIECE
1. MENU
2. 6 SETUP
3. F1, [TYPE];
4. 5 Frames;
5. F3, [OTHER], User Frame;
6. F2, [METHOD], Three point
7. Move the robot in Origin point; click SHIFT, F5 [RECORD]
8. Move the robot in X Direction point; click SHIFT, F5 [RECORD]
9. Move the robot in Y Direction point; click SHIFT, F5 [RECORD]

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ROBOT PROGRAM

CREATE NEW PROGRAM:


1. CLICK SELECT
2. F2, CREATE
3. Enter program name and click ENTER
4. ADD comment and click F1, END.
5. A text editor opens.

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ROBOT PROGRAM

6. SELECT THE UFRAME


7. SELECT THE UTOOL
8. MOVE THE ROBOT IN SEVERAL POSITIONS

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ROBOT MOVEMENT TYPES

J- Joint motion. Is a basic robot movement. The toolpath is nonlinear.


Tool speed is determined with % of the maximum speed.

L- Linear motion. Is a controlled movement from first to second


position. The TCP moves in a straight line.

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TERMINATION POINT

FINE- robot moves and stops in a point and then continuous to a next
point.
CNT- robot approaches to the point but never reaches it. The CNT
value defines the approach distance.

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ROBOT PROGRAM 1

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