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5a. Robot Programming - 2 PDF

The document discusses editing and programming functions for Fanuc robots. It covers topics like program editing commands like insert, delete, copy and paste; creating arithmetic operations with registers; using I/O instructions to control inputs/outputs; flow control using IF, SELECT, and WAIT statements; unconditional branching with JMP; calling other programs; and using macros. The overall focus is providing an overview of the key capabilities when editing and developing programs for Fanuc robot controllers.

Uploaded by

Aswath Sridhar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
454 views

5a. Robot Programming - 2 PDF

The document discusses editing and programming functions for Fanuc robots. It covers topics like program editing commands like insert, delete, copy and paste; creating arithmetic operations with registers; using I/O instructions to control inputs/outputs; flow control using IF, SELECT, and WAIT statements; unconditional branching with JMP; calling other programs; and using macros. The overall focus is providing an overview of the key capabilities when editing and developing programs for Fanuc robot controllers.

Uploaded by

Aswath Sridhar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Robots & Automation – MFET 585

Robots & CNC in Integrated


Manufacturing – MFET 685
Agenda
• Program Editing
• Robot Programming

2
Fanuc TP Program Editing

In edit mode, notice the “>”


button – indicates additional
softkey options

Click NEXT
Fanuc TP Program Editing

INST – insert additional


instructions (not motion
control instructions)

EDCMD – program editor


Fanuc TP Program Editing
Standard set of editing
functions
Fanuc TP Program Editing
INSERT

Use arrow keys to go to


desired line

EDCMD>INSERT

Select how many lines to insert


Fanuc TP Program Editing
Hit ENTER

Lines are added before the line


selected
Fanuc TP Program Editing
Hit ENTER

Lines are added before the line


selected
Fanuc TP Program Editing
DELETE

Use arrow keys to go to


desired line

EDCMD>DELETE
Fanuc TP Program Editing
Use down arrow keys to select
range of lines to delete

Select YES to delete all selected


lines
Fanuc TP Program Editing
COPY

EDCMD>COPY

Highlight first line


Fanuc TP Program Editing
COPY

Highlight additional lines

COPY

Highlight destination line


Or [End]
Fanuc TP Program Editing
PASTE

Several options appear


Fanuc TP Program Editing
LOGIC

Inserts lines exactly as copied

Empty positions
Fanuc TP Program Editing
POS-ID

Adds lines exactly as copied

Same positions with same ID’s


Fanuc TP Program Editing
POSITION

Adds lines exactly as copied

Same positions with new ID’s

Position 5 is same as position 1


Position 6 is same as position 2
Position 7 is same as position 3
Position 8 is same as position 4
Fanuc TP Program Editing
R-LOGIC

Adds lines exactly as copied but


in reverse order

Empty positions
Fanuc TP Program Editing
R-LOGIC

Copies lines in reverse order

Leaves positions empty


Fanuc TP Program Editing
R-POS-ID

Copies lines in reverse order

Keeps same position data and


position ID’s
Fanuc TP Program Editing
ID R-POS

Copies lines in reverse order

Keeps same position data but


renumbers copied positions

Position 8 is same as position 4


Fanuc TP Program Editing
RM-POS-ID

Copies lines in reverse order


except for motion instructions

Keeps same position IDs and


position information

Attempts to retrace path in


reverse, reorganizes motions
instructions by segment
Fanuc TP Program Editing
RM-POS

Copies lines in reverse order


except for motion instructions

Creates NEW position IDs but


retains position information
P[8] same as P[4]

Attempts to retrace path in


reverse, reorganizes motions
instructions by segment
Fanuc TP Program Editing
Find – locate some kind of
operation/index after selected
line

Replace – find and replace


operations/indexes after
selected line

Renumber – renumbers all


positions sequentially without
altering data
Fanuc TP Program Editing
Comment – toggles comments
on/off

UNDO – undoes last editing


operation – only ONE level

UNDO an UNDO is a RE-DO


Fanuc TP Programming

Non motion control instructions


are accessed through the INST
softkey

If it does not appear use PREV /


NEXT to bring it up, motion
controls are shown by default
Fanuc TP Programming
Fanuc TP Programming
Allows creation of arithmetic
operations involving registers

R[3] = R[3]+1

You can mix + and – in a line


You can mix * and / in a line

You cannot mix multiplication


and division operations in a line
with addition/subtraction

Maximum 5 operators in a single


line
Fanuc TP Programming
Direct vs Indirect Registers

DIRECT INDIRECT
R[3] = 8 R[R[3]]=13
R[8]=13

Up to 200 direct registers


Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
I/O instructions allow you to
manipulate real world inputs/outputs

DO – used to control solenoids,


relays, motors, etc
DI – used to read status of sensors
AO – used to set analog parameters
like weld current, motor speed
AI – used to read an analog sensor,
like temperature

RO/RI – one of the 8 DO’s on the


robot end effector
Fanuc TP Programming
IF statement – allows flow control
and decision making
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
SELECT statement – allows
flow control and decision
making

More sophisticated than IF


statement which is only
true/false
Fanuc TP Programming
Fanuc TP Programming
Fanuc TP Programming
WAIT statement – allows delays
to be introduced until a
condition is met
Fanuc TP Programming
Fanuc TP Programming
JMP statement – unconditional
branch to another line

LBL – create a label


Fanuc TP Programming
CALL statement – execute
another program (brings up
menu so you can select another
program in robot memory)

END – stop execution here


Fanuc TP Programming
OFFSET / FRAMES

Statements that allow you to


specifically define which frames
a program will use

Also possible to alter a user or


tool frame directly using a
position register
Fanuc TP Programming
Macros

Any macros you have purchased


shows up in this set of menus

7 PALLETIZING

Is common in handling pro


tools

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