Do not try to “patch” a programming problem Be sure to enter the weight and inertia characteristics of the robot hand because this data plays a role in correctly determining the robot path and can speed up the cycle time when input correctly. The 2-point + Z method uses two reference points to determine x and y coordinates but lets the user define the height of the tool. The direct entry method, just as it sounds, allows the programmer to enter the TCP coordinates manually. With three-point and six-point methods, the TCP is defined by setting the robot tool to different reference positions. The operator defines the TCP using one of four common methods : the three-point method, six-point method, direct entry, or two-point + Z method. The reference point, also called the Tool Center Point (TCP), is set by one of several methods, and all other positions are referenced relative to the TCP. Set the robot’s working tools correctly using “Tool Frames”įANUC’s “Tool Frames” allow programmers to plot the robot’s movement in a Cartesian coordinate system. Save yourself some time and troubleshooting later by sketching out your programming structure in advance and making sure all workers are familiar with the routine. A flowchart or process diagram can also be very useful for visualizing the routine your robot will execute. Setting up a pseudo-code structure can help you to think about the logical flow of events and can give you a framework when you start writing the actual code. Taking the time to set it up correctly before you start programming could save you a lot of time and trouble in the future. Your programming structure will follow you throughout the programming process of the various applications of the cell. Take the time to think carefully about the programming structure So, before you start integrating, consider the following five tips for programming your FANUC integrated work cell to ensure that it provides you with the maximum potential benefits. Efficiency, precision, and reliability are of paramount importance. Your robot cell also ensures the safety of your employees and protects your investment. Robotic cells are complete systems that house your robot, controller, and other essentials like positioners.

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