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infoPLC - Net - 04a Fanuc RoboGuide Curved Shapes

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93 views6 pages

infoPLC - Net - 04a Fanuc RoboGuide Curved Shapes

Uploaded by

fasp
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Fanuc RoboGuide Curved Shapes

By: Matthew Jourden


Brighton High School
Brighton, MI
1. Open Roboguide > Select BHS Fanuc Arm Workcell “Student Last Name
2. Create a New Program > Program Name: Circle_”Student Last Name”
3. Set the Following Lines of Code

4. Circular Motion defines an Arc. The Motion Type needs to have 3 Points to define an Arc
1. Linear or Joint Leading to 1st Position
2. Intermediate Position: Some Point along the Arc
3. Destination Position: Final End Point of the Arc
4. Speed s specified in velocity (mm/sec, cm/sec, in/min, or degrees/sec) or it can be timed (seconds or
milliseconds)
5. Circle Points with Coordinate Orientation

PT1

PT2 PT4

PT3

a. Point 1: Jog Robot to Point 1 > Select Linear Command (NOTE: this can be a Joint Command)

Jog to start point


of the Circle
b. Defining the Arc: Point 2 and Point 3:
i. Jog Robot to Point 2 (Intermediate Position) Select Add Position > Select Linear (NOTE: Needs to be
the same command type as Point 1)

Place a Motion Type

ii. Arrow over to Motion Type (L or J)

Place Cursor on Movement Type


in the code > Select Circular to
change to arced motion
iii. Select Circular Motion (NOTE: Motion Instruction will change to Circular and retain the positional
data for Position 2)

Circle Motion Type

iv. Place cursor on 2nd line of the Circular Motion Command > Jog the Robot to Point 3 > Select Shift +
Touchup Softkey

Place Cursor next


to P[3] > TouchUp
Point

v. Change the Speed from 4000 mm/sec to 500 mm/sec

c. Run the Program:


i. T1: STEP
ii. T1: Continuous
d. Repeat Steps for the 2nd half of the circle > Change Speed to 500 mm/sec > Return PR[1] Home
NOTE: Destination Point (2nd Point) can be changed to Point 1

Change to
Position 1

e. Run the Program:


i. T1: STEP
ii. T1: Continuous
f. Notice how the robot pauses at Destination Point 3 > Robot is set to a FINE Brake type: Change Brake Type
to CNT 100 > Rerun the program

g. Run the Program:


i. T1: STEP
ii. T1: Continuous
Assignment: Oval Shape
1. Create a New Program > Name: Oval_”Student Last Name”
a. Declare
i. UFRAME
ii. TOOL FRAME
b. Add 2 Spaces
c. Start Point
i. Add Comment: Start Point
ii. Start at PR[1]
d. Remarks: Add Remarks for the following
(Key Sequence: New Instruction > Miscellaneous > Remarks)
i. Left Arc
ii. Bottom Straight
iii. Right Arc
iv. Top Straight
e. Jog Robot to Point 1 > Keeping the End Effector Claw between 50 mm – 100mm of the Table
f. Consider
i. CNT vs FINE when approaching an end point
1. If using CNT check to see if the shape is traced close to the line or does it skip over it
g. Trace the image on a flat plane
h. After tracing image > Return Robot to PR[1]

PT1 PT6

PT2 PT5

PT3 PT4

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