How to create a User Frame in FANUC KAREL

💡 How-to
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When using a custom tool on a robot it is very useful to be able to move and turn the tool from the point of the tool itself, below is a short explanation how to make your own toolframe.

Teach pendant type: A05B-2301-C395

The numbers in brackets are the numbers to press when selecting a menu

  1. Access the Frames Menu:
  • Press the Menu button (located next to the Left Shift button).
  • Go to Setup (6).
  • Press F1 (Type), then select Frames (2).
  1. Choose Frame Type:
  • Press F3 to select between Tool Frame (1), Jog Frame (2), and User Frame (3).
  1. View Current Frame Configuration:
  • Press F2 (Detail) to view the current configuration for the selected frame.
  1. Select a Frame Setup Method:
  • Press F2 again to choose the setup method. You will have three options:
    • Three-Point Method: This method defines the user frame by setting three points that you jog the robot to and press F5 (Record) at each point.
    • Six-Point Method: Similar to the three-point method, but based on six specific points for greater accuracy.
    • Direct Entry: Use this if you know the exact coordinates for the frame origin and orientation. Here, the (0,0,0) point is based on the center of the ring on Joint 6.
  1. Guidelines for Using the Jogging Method:
  • If defining the user frame by jogging, use a well-defined, small reference point in the workspace for accuracy, for example use a long bolt and move around it.
  • Ensure the points you choose are spaced apart and not collinear to help the robot accurately establish the frame orientation.
  1. Additional Tips:

  • Typically, you’ll only need to create tool frames. In some cases, you might add a 45 or 90-degree adjustment in the world frame for specific orientations.

    1. Call frames in programs
    • o To call a frame, use Call_Uframe = X/ Call_Tframe = X. X being the User- or Toolframe you are using.
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