Dear Adam, I am quite new in FANUC robot programming. I want THANK YOU SO MUCH!!!!!!!!!!!!!!!!!!!!!!!! Thank you sir for all your efforts and videos on FANUC robot programming. Good lock and all the best. You are my hero!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Hi, Adam! Funny to see, that sometimes people think alike, basically wrote exactly the same code for a Fanuc project commissioned a week ago. And for the under the table problem, basically had 3 similar regions that had to be dealt with. An idea, sometimes it is also necessary to add an "empty the hand" routine to homing process. Palletizing robots sometimes carry the pallets, sheets and accessories too, including the product itself. Therefore, just "open hand" command before starting a new cycle isn't sufficient. Wouldn't like to drop a pallet from 2m height at a random place.
I couldn't agree more! I always say 20% of our work is making the robot do its job. 80% is coding around all the possibilities of recovery and operator errors! Expect the unexpected...
@@AdamWillea That's true! I prefer a additional RefPos as home position, so your PLC can use the AtPerch IO for operations and you can use it in the GoHome program to determine if you have to do a homing routine ;) I'm very thankful for this kind of video's, so i can validate my knowlege and give my 2 cents. Or just learn new thinks, thank you!
@@thomaskneisel1854 RefPos and AtPerch are extremely useful and fit right into this. Sounds like you're doing everything right! Keep up the great work!
Why does FANUC have to be so difficult to learn? Not as in hard to understand but hard to get material for? Learning a programming language like python or C has near unlimited free resources and to learn how to program a robot, the resources are very few. Thank you for your time in making this video.
I would like to add one more suggestion, would be to do a JPOS and check Joints are not at a funny angle,. Sometime technician might jog to work on tools and try to home.Only to see the dressing snap. have seen it happen a couple of times, cos not everyone is aware where the knuckle should be present.
Slightly memory intensive but i like to use dcs zones to figure out where TCP is and then offset the robot accordingly to get it back home. And if i am not in a pre defined dcs zones then i have a if statement to ask operator to jog the robot back home manually. Adam it would be great if you could do a video on optional/special motion types: Like MROT
Yuval - is there something specific you'd like to see/learn? Are you asking about the offline programming option or the remote motion interface option?
Hi, I basically meant creating some sort of interface for controlling (read and write) the robot’s IO and registers, for example via excel file. I recently got an example from our locals fanuc representatives to read values via excel file but it’s really unclear how they manage to do that. Thanks in advance
COULD you show how to set the input and outputs on roboguide? like how to set the coils to open/close grippers? i realize you can simulate it, but i am looking doing that in class right now in real world.
how would you set up a program where you using a pns program to run 2 different jobs one the task its complete it robot goes home and waits for the signal to start and run the program again robot sits there for about 2 seconds until it gets the signal how would you make it to where instead of going home it goes right over to pick the part up without stopping on home and make some cycle time shorter
Hi Alan, In this case I would typically setup your programs to NOT have the Home motion programmed in with the task job, and rather just go back to the "perch" position right above starting the next routine. Then, you can instead make a new program that has only the "Home" move in it, and use that as a third PNS program. When you are done with production and want to go home, trigger the PNS for the Homing move instead of the PNS for the task program.
Hello Adam ! Could you make a little explanation about "rec path start" / "do bwd exit" which looks a very suitable function to get back to an initial or home position. Thank you
Tanks for another great tutorial Adam. How do you handle homing, when you have to do couple of moves to get inside machine, so simple x/y/z offset wouldn't do the job. In ABB I used permanent register to store unique number for each motion, so then based on this register I executed required motions to get from the machine without crashing. Is is advisable to do on Fanuc? Thanks
Your method will absolutely work with FANUC as well. We recommend you use Registers or Flags in the program and set a value as you move along. This will allow you to check what part of the program you are in when homing. FANUC also offers an option (for sale, not free) called Auto Backward Exit that allows the robot to record its own flight path and run in reverse during homing.
Thanks for useful information, im trying to learn robotics with our new robot cell. We have square gripper tool which holds parts and supplier says you need to view during home position not to crash tool to robot j5. But i understand all conditions are possible to move home position with right programming?
You are correct; you must be careful when moving home not to crash the robot or tooling into itself or into other components in the system. Always take careful consideration and do your testing at slow speeds to verify clearance.
Sir i programmed fanuc robot with group 2 then due to some reasons removed the external axis and now the robot is not running in auto tell me your opinion on these changes sir now will it be a new program or will it be done by copying?
Hi Adam, I have a question on this topic, when i turn up the robot and try to move it to home the TP shows a message; "robot cannot move, not in home position". Do you know if is there another condition that may be missing? Thanks for your videos, you're great!
Mario, is this a SYST-081 alarm? If so, you need to move your robot to the Ref Position taught as valid home to start the program. There are also joint tolerances for the home position, which I usually open up to be +/- 2 degrees. Also feel free to contact our technical hotline. If you are in the U.S., you can call 888-FANUC-US any time 24/7/365. Thanks!
Hi Adam I've been now two days with the same issue... I'm using an HMI to run a MAIN program (Prog Select configured correctly). When working in AUTO, no active alarms, and ABORT done, UI[6] pop-up ON but the system is not running as the SYST-011 or SYST-034 alarm pops out stating: Failed to run task. The thing is that when I turn on the manual mode, I'm able to do FWD and start running the program. After this, if I cange back to AUTO and try to run the program.... It works! Except if an ABORT is done between both working modes. Does anyone have a clue about this? I will really appreciate it Thankyou! :)
SYST-034 is the HOLD signal. In your UOPs, you must have the HMI hold a few signals always on: IMSTP, HOLD, SFSPD, and ENBL. Force those bits all on, and she'll run :)
The term "Tool Frame" is also known as TCP (Tool Center Point) or UTOOL. When you setup your program, one of your first lines of code should be to tell the robot what UFRAME and what UTOOL you want to be active. Starting at 1:57 in this video I show how to call those lines. Whatever UTOOL is active is the tool frame that the robot will use when moving. If you'd like to learn more about Tool Frame Offsets, please check out my video on those as well!
@@AdamWillea thanks for your reply, I meant more along the lines of instead of moving Z+ in the world frame to move away from the part how could you make it move Z+ in the tool frame to get away from the part?
@@decipherlogic Ah yes I got you. You need to use "Tool Offset PR[x]" instead of normal Offset PR[x]. Check out my video here around the 11min mark: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-BRSZa2p8OWg.html
