This how to provides programming and safety tips for an FANUC robot. It includes practical instructions for setting motion types, positions, and speeds to work more efficiently and accurately with the robot.
1. Using CNT and FINE motion types
CNT (Continuous): This command tells the robot to move smoothly through a point without stopping. It’s useful for tasks where speed and smooth motion are more important than precise stopping.
How to use: In the motion settings, select CNT and specify a percentage value (usually between 1 and 100) to control the smoothness of the movement.
FINE (Precise Stop): This motion type stops the robot exactly at the specified point. It's ideal for tasks that require accuracy at specific locations.
How to use: Set the motion type to FINE in the program editor to make the robot stop precisely at the point.
2. Safety check with POS-POS zeroing
Purpose: To ensure that positional values are reset to zero, improving safety and avoiding unexpected behaviour in movement.
How to implement: In the robot’s code, add a line that calculates `POS = POS - POS` (current position minus itself) to reset the position variable to zero. This acts as a precaution to avoid any offset errors from previous movements.
3. Working with offsets from an absolute position
Why use offsets: Offsets allow you to make small adjustments from a fixed, absolute position. This helps in faster programming and reduces the chance of errors in position.
How to set offsets:
1. Define an absolute position as a reference point.
2. Apply an offset by adding or subtracting values from this position.
3. Test the program using these offsets to ensure it operates smoothly and that the robot moves accurately relative to the absolute point.
4. Saving a jogged position
Purpose: Allows you to save the robot's position after manually moving (jogging) it to a desired location.
How to save:
1. Manually jog the robot to the desired position.
2. Press `SHIFT + RECORD` to save the current position to the position register.
3. This saved position can now be used in programs as a reference or starting point.
5. Setting standard speeds in the register
Purpose: To define and reuse specific speeds for multiple movements, making programming more efficient.
How to set speeds:
1. Go to the register section on the robot controller.
2. Enter standard speed values that you want to apply across different movements.
3. You can assign unique speeds to each movement by specifying a different register value, allowing for fine-tuned control over the robot's motion.