Fanuc Robotic Arm: User Frame

By: Matthew Jourden

Brighton High School
Brighton, MI
Frames Overview
Allows the user to set an origin point within a 3-Dimensional Cartesian Coordinate System for Linear Axis X, Y and Z, along
with Rotational Axis Awl (W), Pitch (P), Roll (R) on the robot, workpiece, workcell, tool, etc. Cartesian System sets three
planes at Right Angles to each other (XY, XZ, YZ), these planes are called frames, allowing for easier navigation within
programs by adjusting the frame type instead of modifying all points.

Example: Planes in relation to Origin Example: Location of the end to a Example: Orientation of a robot
robot gripper in relation to the Origin gripper in relation to the Origin.
Direction it is pointing in

Working in Frames

- When no data is defined Tool Frame is the Center of the Faceplate

- Tool Frame data is a physical measurement from the tip of the end effector to the tip center plate
- Tool Frame is commonly referred to Tool Center Point (TCP)
- Controller types have a limited number of Frames
o R30IB = 29 Frames
o R30IB Plus (Current model at Brighton High School) = 253 Frames
- When Selecting Jog Method Tool the active TCP becomes the focal point while jogging/moving the robot
NOTE: Checking active Tool Setting: Press Select + COORD Key

Positional Data (X,Y,Z,W,P,R) is dependent on the Tool and User Frames. The operator will supply these values directly by
inputting them or via by measuring them and recording points to define the location and orientation of the work piece or
space.

Types of Frames

World Frames: Default Frame used to describe the location and orientation of the Tool Center Point (TCP). Origin Location of
TCP is the center of the Tool Plate (No End Effector Attached) and the Robot IS located on the Centerline of J1 Axis and the
intersection of J2 Vertical Centerline. World Frame is not editable by the user.
Tool Frame: Describes the orientation of the physical tool. Operator can set a tool offset length for the tip of the end
effector. By default the Tool Frame is set to the Tool Center Point (TCP) Plate. This makes the work easier since the
coordinate values in relation to World is set to the tip of the tooling and not the Tool Plate

NOTE: Z-Value is the length of the tooling NOTE: P (pitch) Value set to
angle Location

Multiple ways of capturing tool point: Direct Entry, 2-Point, 3-Point, 6-Point (XY), 6-Point (XZ)

User Frames: Allows the operator to setup a new origin of any location and orientation. This makes it easier to for the
operator to check distances based on an object, fixture, or jig and not the World Frame Coordinate System that is based on
the Robotic Arm.
Note: if no User Frame is declared then default User Frame will be World Frame

Jog Frames: Allows the user to setup directional movements along a part when the orientation of the part differs from the
World Frame

Cell Frames: Advanced setup for large workcells that incorporate the Robot and one or multiple machining/handling
operations.
Part Creation and Import
Following Steps will have user import a CAD File and Create a Cube to setup a User Frame around their location

1. Class Website > Industrial Robotics Webpage > Frames: Users > Download Fanuc_User_Frame_Part
a. Open Download File > Open .zip File >

b. Copy/Cut File > Navigate to Users MyWorkcell Folder > Open User Workcell > Object Folder > Paste File

2. Open Roboguide
3. Select Cell > Add Part > Single CAD File

4. Navigate to where the file is saved: This PC > Windows (C:) > My Work Cells > BHS Fanuc Robotic Arm Workcell
“Student Last Name” > Folder object > Select File > Select Open
5. Optimization Choice: Quality of the Import Model and if edges can be used in detecton > Select Normal Quality >
Select Ok

6. Hide Part Rack (See Tutorial Adding Objects to Hide Part Rack)
7. Attach Part to the Table (See Tutorial Adding Objects to Hide Part Rack)
8. Adjust Part Location based on the table to the following values
9. Create Box
a. Select Cell > Add Part > Box

b. Set the settings as follows

c. Hide Part Rack (See Tutorial Adding Objects to Hide Part Rack)
d. Attach Part to the Table (See Tutorial Adding Objects to Hide Part Rack)
e. Adjust Part Location based on the table to the following values

10. Robot Default Orientation: Run the Zero 90 Program

11. Work Cell Looks as Follows
User Frames: Allow the user to set an orientation and location of the origin of the work space
Options to set User Frame:

Option 1: 3 Point: Operator Sets the Origin Point > Set X Direction > Set Y Direction
Option 2: 4 Points: Operator Sets the Origin Point > Set X Direction > Set Y Direction > Set Z Direction

3 Point Method Setup

1. Select Hardkey MENU

Select Hardkey MENU

2. Arrow Down to Six > Right Arrow Over > Arrow Down to Option 5 FRAMES > Select Hardkey ENTER

3. Change to User Frame: Select Softkey [OTHER] or Hardkey F3 > Select Option 3 User Frame > Keep Cursor on User
Frame 1
NOTE: When a User Frame is not declared in the program or one is declared but not set to specific coordinates the
robot will default to World Frame

TOOL FRAME Menu is Default

4. Choose User Frame: Select Softkey DETAIL or Hardkey F2 > Select Sofkey [METHOD] or Hardkey F2 > Change 1.
Comment > Press Hardkey Enter > Arrow down to Options/Keybd > Select Hardkey Enter > Select Softkey Keyboard
or Hardkey F5 > Change Name to Rectangle_Block

5. Choosing User Frame Method: Select Softkey [METHOD] or Hardkey F2 > Select Opton 1: Three Point

Current Frame Data

In Relation to World
Frame
NOTE: All Values are
in millimeters (mm)

6. Recording Points:
a. Three Points will be measured to locate a new origin
i. Point 1: Orient Origin Point
ii. Point 2: User Defined X Direction Point
iii. Point 3: User Defined Y Direction Point
NOTE: Coordinates X and Y do not need to go in the tradition direction of a standard graph (i.e. X being left to
right and Y being forward and backward), but defined to the users fixture, part, etc. in relation to the
robot

b. Green Rectangle Box User Frame Points

Orient Origin Point Orient Origin Point

Y
Y Direction
Direction

X Direction
X Direction
 c. Point 1: Orient Origin Point
This point will define the distance/angle from World Frame for the Robot. All coordinate and orientation
values will factor in the offsets distance/angle from World Frame
i. On the Teach Pendent: Arrow down to Orient Origin Point
ii. Jog the Robot Gripper Perpendicular to the Orient Origin Defined Above (Maintain a minimum
height of about 1” above the block.

Orient Origin Point

iii. Highlight Orient Origin Point > Hold Hardkey SELECT + Softkey RECORD or Hardkey F5

Hold SHIFT
+
Press Softkey RECORD
or Hardkey F5

Teach Pendent will Confirm Point is Recorded.

NOTE: Points can be Recorded at any time by going
through the same process

d. Move Back to Origin Point

i. Highlight Orient Origin Point after it is Recorded
ii. Hold Deadman Middle + SHIFT + Press Softkey MOVE_TO or Hardkey F4

e. Point 2: X Direction Point

i. On the Teach Pendent: Arrow down to Orient Origin Point
ii. Jog the Robot Gripper Perpendicular to the Corner Marked X – Direction (Maintain a minimum
height of about 1” above the block.

Orient Origin Point

Jog to this Corner

X Direction
 iii. Highlight X Direction Point Hold Hardkey SELECT + Softkey RECORD or Hardkey F5

Hold SHIFT
+
Press Softkey RECORD or
Hardkey F5

Teach Pendent will Confirm Point is Recorded.

NOTE: Points can be Recorded at any time by going
through the same process

f. Point 3: Y Direction Point

i. On the Teach Pendent: Arrow down to Orient Origin Point
ii. Jog the Robot Gripper Perpendicular to the Corner Marked Y Direction (Maintain a minimum height
of about 1” above the block.

Orient Origin Point

Y Direction

Jog to this Corner

iii. Highlight Y Direction Point > Hold Hardkey SELECT + Softkey RECORD or Hardkey F5

Hold SHIFT
+
Press Softkey RECORD or
Hardkey F5

Teach Pendent will Confirm Point is Recorded.

NOTE: Points can be Recorded at any time by going
through the same process
 g. Frame Data Calculated in relation to World Frame
NOTE: Values may vary slightly based on how close in X, Y and Z the operator got the points on the box
Operator can now roughly measure back to World Frame Origin (Intersection of J1 and J2) to see if the
values make sense

7. Test User Frame

a. Set User Frame: Hold Hardkey SHIFT + Press Hardkey COORD

Hold Hardkey Shift

+
Select Hardkey COORD

b. Arrow down to User > Press Harkey #1 to set the User Frame to 1

Arrow down to User > Press Check to See User Frame Selection
Hardkey #1 to set User Frame

8. Jog in User Frame Setting

a. Repeatly Select Hardkey COORD until USER Jog appears
 b. Select Hardkey POSN > Select Sofkey USER or Hardkey F3

1. Select Softkey USER

or Hardkey F3

2. Select Hardkey POSN

c. Jog in Frame: X, Y and Z

i. Check
1. Make sure the Coordinates and Angles Behave has expected
2. Check Z+ and Z- to ensure it is moving in the desired manner
3. Rotate around the joints to notice change in W,P,R based on the origin of User Frame 1
ii. Move the Robot to Point 1 Origin > Check to see if points match up closely to 0,0,0
iii. Move the Robot to Point 2 X Direction > Check to see if points match up closely to 200,0,0
iv. Move the Robot to Point 3 Y Direction > Check to see if points match up closely to 0,200,0

Submission: Take picture or Screenshot of the POSN Screen at each Location for Use Frame 1 and User Frame 2
Use Virtual Teach Pendent to Show Screens
Steps to Use Virtual Teach Pendent

1. Teach Pendent MUST BE TURNED OFF (If the Teach Pendent was Turned on with the
Workcell: Before Proceeding to Step 2: Turn OFF the Teach Pendent > Save Workcell )
2. Roboguide: Select Drop Down Menu Robot > Select Teach Pendent > Teach Pendent will
Load

NOTE: Virtual Teach Pendent will Open with the Last Active Screen from the Real World Teach
Pendent or the Virtual Teach Pendent

3. Using the Mouse Click on the Buttons to Navigate through the Menus (NOTE: Certain Keys
(i.e. SHIFT, JOINT/Coordinate keys) when selected will stay selected until the user deselects
them)
4. Use Windows Snipping Tool to take Screenshots of the POSN Screen > Paste Screenshot into
a Word Document > Email Document to Teacher
Assignment 1: Set User Frame 2: Angle Block

a. Rename UFrame 2 to Angle_Block

b. Set the orientation with the gripper Pointing at the angled surface record the Origin, X Direction and Y Direction
as Shown. DO NOT Intersect the Part
c. Test: Set User Frame Hardkey SHIFT + Hardkey COORD > Arrow to User Frame > Select Hardkey #2 to set User
Frame > Jog in Frame > Check Values

Y Direction

Origin

X Direction

9. Test User Frame

a. Set User Frame: Hold Harkey SHIFT + Press Hardkey COORD

b. Arrow down to User > Press Harkey #1 to set the User Frame to 1

Arrow down to User > Press Check to See User Frame Selection
Hardkey #2 to set User Frame
 10. Jog in User Frame Setting
a. Repeatly Select Hardkey COORD until USER Jog appears

b. Select Hardkey POSN > Select Sofkey USER or Hardkey F3

2. Select Softkey USER

or Hardkey F3

1. Select Hardkey POSN

c. Jog in Frame: X, Y and Z

i. Check
1. Make sure the Coordinates and Angles Behave has expected
2. Check Z+ and Z- to ensure it is moving in the desired manner
3. Rotate around the joints to notice change in W,P,R based on the origin of User Frame 2
ii. Move the Robot to Point 1 Origin > Check to see if points match up closely to 0,0,0
iii. Move the Robot to Point 2 X Direction > Check to see if points match up closely to 200,0,0
iv. Move the Robot to Point 3 Y Direction > Check to see if points match up closely to 0,200,0

Submission: Take picture or Screenshot of the POSN Screen at each Location

Assignment 2: Create the following Program

1. Name Program User_Frame_”Student Last Name”

Optional: Create 4 Separate Programs > Create 1 Main Program and CALL sub-programs into Main Program

2. Set World Frame (User Frame = 0)

3. Set Positional Register [1] or Call Program Zero 90
4. Part 1 of Program
a. Comment: Trace Rectangle Block + Gripper
b. Set User Frame to 1 (Rectangle Block)
c. Set Tool Frame 8 (Gripper)
d. Trace the Top Surface of the Rectangle: Keep the Gripper Tip Minimum of 2” or 50mm Above the Part
e. To help getting to the origin point of the block
i. Select Hardkey Menu > Select Option 6 Setup > Arrow over to Option 5 Frames > Select User
Frame 1 > Highlight Origin Point > Deadman Middle + Hardkey RESET to Clear Faults > with
Deadman still held + Hold Hardkey SHIFT + Softkey MOVE_TO or Hardkey F4
ii. Program Points
Assignment 2 Continued

5. Part 2 of Program
a. Comment Trace Angle Block + Gripper
b. Set User Frame to 2 (Angle Block)
c. NOTE: Tool Frame will be the same as Part 1 so it does not need to be redeclared
d. Trace the Angle Surface of the Rectangle: Keep the Gripper Tip Minimum of 2” or 50mm Above the Part
e. To help getting to the origin point of the block
i. Select Hardkey Menu > Select Option 6 Setup > Arrow over to Option 5 Frames > Select User
Frame 1 > Highlight Origin Point > Deadman Middle + Hardkey RESET to Clear Faults > with
Deadman still held + Hold Hardkey SHIFT + Softkey MOVE_TO or Hardkey F4
ii. Program Points
6. Part 3 of Program
a. Comment Trace Angle Block + Vacuum Gripper
b. Set User Frame to 2 (Angle Block)
c. Set Tool Frame 1 (Gripper)
d. Trace the Top Surface Rectangle: Keep the Gripper Tip Minimum of 2” or 50mm Above the Part
e. To help getting to the origin point of the block
i. Select Hardkey Menu > Select Option 6 Setup > Arrow over to Option 5 Frames > Select User
Frame 2 > Highlight Origin Point > Deadman Middle + Hardkey RESET to Clear Faults > with
Deadman still held + Hold Hardkey SHIFT + Softkey MOVE_TO or Hardkey F4
ii. Program Points
7. Part 4 of Program
a. Comment Trace Angle Block + Vacuum Gripper
b. Set User Frame to 2 (Angle Block)
c. NOTE: Tool Frame will be the same as Part 3 so it does not need to be redeclared
d. Trace the Angle Surface of the Rectangle: Keep the Gripper Tip Minimum of 2” or 50mm Above the Part
e. To help getting to the origin point of the block
i. Select Hardkey Menu > Select Option 6 Setup > Arrow over to Option 5 Frames > Select User
Frame 1 > Highlight Origin Point > Deadman Middle + Hardkey RESET to Clear Faults > with
Deadman still held + Hold Hardkey SHIFT + Softkey MOVE_TO or Hardkey F4
ii. Program Points
8. Set World Frame(User Frame = 0)
9. Set Tool Frame Gripper
10. Set Positional Register [1] or Call Program Zero 90

Run the Program

Submission: Take a Video of the Program Running or Show the Teacher

Assignment 3: Move Object > Update User Frame

1. Move the Angled Block to the Following Coordinates

a. X = 1100
b. Y = 300

2. Update User Frame

a. Select Hardkey MENU > Select Option 6 Setup > Arrow over to Option 5 FRAMES > Arrow to User Frame 2 >
Select Hardkey ENTER > Arrow down to Orient Origin Point: > Jog Robot to new Origin Point > Hold Shift +
Softkey RECORD or Hardy F5
NOTE: X and Y Direction have not changed direction so these points do not need to be updated.
3. Run Program

Submission: Take a Video of the Program Running or Show the Teacher