This video shows the parallel shifting of a program path from one area to another one with rotation using a Teach Pendant from a FANUC Robot.

You will find a downloadable

This procedure is use to shift a series of point positions or a whole program to another area with rotation on the same user frame. In this case, we want the robot to make the same path but in another area. The source path is kept and the new one will be executed after the source path. The source path is from line 4 to line 7 and the new path created will be added at line 9. The procedure is done according to three point source reference and a three point destination reference. These references have to be set the same way except for rotation.

1. PRESS –> [ MENU ]
2. SELECT –> [ 1 ] 1 UTILITIES
3. SELECT –> [ 6 ] 6 Program Shift (see screenshot)
4. PRESS –> [ F4 ] [ CHOICE ]
5. Using Arrow –> Scroll down the program list an make a selection.
6. PRESS –> [ ENTER ]
7. At line 2, PRESS –> [ F4 ] PART
8. At line 3, ENTER –> 4
9. At line 4, ENTER –> 7
10. At line 5, ENTER –> Nothing because the new path will be inserted starting at line 9.
11. At line 6, ENTER –> 9 (see screenshot)
12. Using Arrow –> Scroll down until the next page of the shifting tool appears.
13. At line 1, PRESS –> [ F4 ] ON (if it is not already ON).
14. At line 2 “Source position P1:”, record first source position point, PRESS –> [ SHIFT and RECORD ]
15. At line 3 “Source position P2:”, record second source position point, PRESS –> [ SHIFT and RECORD ]
16. At line 3 “Source position P3:”, record third source position point, PRESS –> [ SHIFT and RECORD ]
17. At line 4 “Destination position Q1:”, record first source position point, PRESS –> [ SHIFT and RECORD ]
18. At line 5 “Destination position Q2:”, record second source position point, PRESS –> [ SHIFT and RECORD ]
19. At line 6 “Destination position Q3:”, record third source position point, PRESS –> [ SHIFT and RECORD ]
20. PRESS –> [ F2 ] EXECUTE (see screenshot)
21. PRESS –> [ F4 ] YES
22. The shifted line were added starting at line 9. The source lines were kept at lines 4 to 7. (see screenshot)

Tutorial – Parallel Shifting of a program path from one area to another one with rotation.pdf

This video shows the parallel shifting of a program path from one area to another one without rotation using a Teach Pendant from a FANUC Robot.

You will find a downloadable

This procedure is use to shift a series of point positions or a whole program to another area on the same user frame without rotation. In this case, we want the robot to make the same path but in another area. The original path is kept and the new one will be executed after the original path. The original path is from line 4 to line 7 and the new path created will be added at line 9.

1. PRESS –> [ MENU ]
2. SELECT –> [ 1 ] 1 UTILITIES
3. SELECT –> [ 6 ] 6 Program Shift (see screenshot)
4. PRESS –> [ F4 ] [ CHOICE ]
5. Using Arrow –> Scroll down to the program list and make a selection.
6. PRESS –> [ ENTER ]
7. At line 2, PRESS –> [ F4 ] [ PART ]
8. At line 3, ENTER –> 4
9. At line 4, ENTER –> 7
10. At line 5, ENTER –> Nothing because the new path will be inserted starting at line 9.
11. At line 6, ENTER –> 9 (see screenshot)
12. Using Arrow –> Scroll down until the next page of the shifting tool appears .
13. At line 1, PRESS –> [ F5 ] [ OFF ] (if it is not already OFF.)
14. At line 2 “Source position P1:”, we will use the method of referring to a point, PRESS –> [ REFER ]
15. PRESS –>[ F4 ] P[ ]
16. PRESS –>[ 1 ] Because it is the point number from which the path will be shifted.
17. PRESS –> [ ENTER ]
18. Move the robot where which the shifted new path will start from.
19. PRESS –> [ SHIFT and F5 ] SHIFT RECORD
20. PRESS –> [ F2 ] EXECUTE (see screenshot)
21. PRESS –> [ F4 ] YES
22. The shifted line were added stating at line 9. The source lines were kept at lines 4 to 7. (see screenshot)

Tutorial – Parallel Shifting of a program path from one area to another one without rotation.pdf

This procedure is use to change tool frame number to a section or all of a program points maintaining robot joints positions. If old and new tool frame are the same, TCP position along the robot path won’t change.

You will find a downloadable

1. PRESS –> [ SELECT ]
2. Choose the program you want to make tool frame reference changes.
3. PRESS –> [ ENTER ]
4. PRESS –> [ MENU ]
5. SELECT –> [ 1 ] 1 UTILITIES
6. SELECT –> [ 8 ] 8 TOOL OFFSET (see screenshot)
7. PRESS –> [ F4 ] [ CHOICE ]
8. Select the program in which the changes have to be made
9. PRESS –> [ ENTER ]
10. Using Arrow –> Scroll down on the 2nd line. 
11. PRESS –> [ F4 ] [PART]
12. Using Arrow –> Scroll down on the 3rd line. 
13. Enter the number where the changes should start.
14. PRESS –> [ ENTER ]
15. Using arrow, SCROLL DOWN TO –> The 3rd line
16. Enter the line number where changes should end.
17. Using Arrow –> Scroll down on the 5th line. 
18. ENTER –> A new program name. (or keep the same one.)
19. PRESS –> [ ENTER ]
20. Using Arrow –> Scroll down on the 6th line. 
21. If you kept the same program name, enter a program line number where the lines with the switched tool frames will be copied. If you have changed the program name the step before, no “insert line” will be asked.
22. PRESS –> [ ENTER ] (if you have entered an “insert line” number.) (see screenshot)
23. Using Arrow –> Scroll down until the next page appear.
24. Enter old tool frame number (the frame number on which the points where reference to).
25. PRESS –> [ ENTER ]
26. Using Arrow –> Scroll down on 2nd line.
27. ENTER –>  New tool frame number (the tool frame number on which the points on which you want to reference them to.)
28. PRESS –> [ ENTER ]
29. Using Arrow –> Scroll down on 3rd line.
30. PRESS –> [ F4 ] [ CHOICE ]
31. SELECT –> [ 2 ] 2 Robot Fixed (This convert type will keep the position of the face plate of joint 6 of the robot where it is for each of the targeted points. It will change the tool frame number. If both old and new frames are identical, then the TCP positions along the taught path won’t change.) 
32. PRESS –> [ F2 ] EXECUTE (see screenshot)
33. PRESS –> [ F4 ] YES
34. You can also delete line 4 to 8 and change UTOOL_NUM from 1 to 5.

Tutorial – Switching Tool frames maintaining robot physical joint position.pdf

This procedure is use to change tool frame number to a section or all of a program points without affecting TCP positions along the taught robot path.

You will find a downloadable

1. PRESS –> [ SELECT ]
2. Choose the program you want to make tool frame reference changes.
3. PRESS –> [ ENTER ]
4. PRESS –> [ MENU ]
5. SELECT –> [ 1 ] 1 UTILITIES
6. SELECT –> [ 8 ] 8 Tool Offset (see screenshot)
7. PRESS –> [ F4 ] [ CHOICE ]
8. Select the program in which the changes have to be made.
9. PRESS –> [ ENTER ]
10. Using Arrow –> Scroll down on the 2nd line. 
11. PRESS –> [ F4 ] [PART]
12. Using Arrow –> Scroll down on the 3rd line. 
13. ENTER –> The number where the changes should start
14. PRESS –> [ ENTER ]
15. Using Arrows, SCROLL DOWN to the –> The 4th line
16. ENTER –> The line number where the changes should end.
17. Using Arrow –> Scroll down on the 5th line. 
18. ENTER –> A new program name (or keep the same one.)
19. PRESS –> [ ENTER ]
20. Using Arrow –> Scroll down on the 6th line. 
21. If you kept the same program name, enter a program line number where the lines with the switched tool frames will be copied. If you have changed the program name the step before, no “insert line” will be asked.
22. PRESS –> [ ENTER ] (if you have entered an “insert line” number) (see screenshot)
23. Using Arrow –> Scroll down until the next page appear. 
24. ENTER — > Old tool frame number (the frame number on which the points where reference to)
25. PRESS –> [ ENTER ]
26. Using Arrow –> Scroll down on the 2nd line.
27. ENTER –> New tool frame number (the tool frame number on which the points on which you want to reference them to).
28. PRESS –> [ ENTER ]
29. Using Arrow –> Scroll down on the 3rd line. (see screenshot)
30. PRESS –> [ F4 ] [ CHOICE ]
31. SELECT –> [ 1 ] 1 TCP Fixed (This convert type will keep the position of the TCP (Tool center point) where it is for each of the targeted points, but will change the face plate position of joint 6 according to the new tool to maintain TCP position along the path)
32. PRESS –> [ F2 ] EXECUTE
33. PRESS –> [ F4 ] YES
34. You can also delete P[1] to P[5] and changed UTOOL_NUM from 1 to 3.
35. DELETE –> line 4 to 9.

Tutorial – Switching Tool frames maintaining robot physical joint position.pdf

This procedure will help you recover the calibration of the robot. You cannot quick master a robot unless the quick master reference position has been previously recorded. You must clear any servo faults that prevent you from jogging the robot. All axis must be at less then 1 motor turn from the reference position recorded. This procedure must be done with controller selector key to T1 and teach pendant to ON.

You will find a downloadable

ENABLING MASTERING

1. PRESS –> [ MENU ]
2. SELECT –> [ 0 ] 0 NEXT
3. SELECT –> [ 6 ] 6 SYSTEM
4. SELECT –> [ 2 ] Variables (see screenshot)
5. Using Arrow –> Scroll down to the variables list until you get to $MASTER_ENB
6. PRESS –> [ 1 ] (see screenshot)
7. PRESS –> [ ENTER ]

QUICK MASTERING

Jog each joint of the robot until the reference marks used are align (most of the time they are the 0° marks of each joint).

1. PRESS –> [ MENU ]
2. SELECT –> [ 0 ] 0 NEXT
3. SELECT –> [ 6 ] 6 SYSTEM
4. SELECT –> [ 2 ] Variables
5. Using Arrow –> Scroll down to $DMR_GRP.
6. PRESS –> [ F2 ] DETAIL
7. PRESS –> [ F2 ] DETAIL
8. Using Arrow –> Scroll down to $REF_POS.
9. PRESS –> [ F2 ] DETAIL
10. Put each data from line 1 to 9 to –> 0  (see screenshot)
11. PRESS –> [ PREV ]
12. Using Arrow –> Scroll down to $MASTER_COUN.
13. PRESS –> [ F2 ] DETAIL
14. Note each value written on line 1 to 6. (see screenshot)
15. PRESS –> [ PREV ]
16. Using Arrow –> Scroll down to $REF_COUNT.
17. PRESS –> [ F2 ] DETAIL
18. ENTER –> Each value of the $MASTER_COUN to the corresponding lines (1 to 6) and PRESS–> [ ENTER ] after each line to enter the number. (see screenshot)
19. PRESS –> [ PREV ]
20. Using arrow –> Scroll up to $MASTER_DONE
21. PRESS –> [ F4 ] TRUE
22. Using Arrow –> Scroll down to $REF_DONE
23. PRESS –> [ F4 ] TRUE
24. PRESS –> [ MENU ]
25. SELECT –> [ 0 ] 0 NEXT
26. SELECT –> [ 6 ] 6 SYSTEM
27. SELECT –> [ 3 ] 3 Master/Cal (see screenshot)
28. Using Arrow –> Scroll down to line 3 QUICK MASTER. (see screenshot)
29. PRESS –> [ ENTER ]
30. PRESS –> [ F4 ] YES
31. Using Arrow –> Scroll down to line 7 CALIBRATE. (see screenshot)
32. PRESS –> [ ENTER ]
33. PRESS –> [ F4 ] YES
34. PRESS –> [ F5 ] DONE (see screenshot)

IF A DCS IS IN FUNCTION

1. PRESS –> [ MENU ]
2. SELECT –> [ 0 ] 0 NEXT
3. SELECT –> [ 6 ] 6 SYSTEM
4. SELECT –> [ 8 ] DCS (see screenshot)
5. Using Arrow –> Scroll down to line 11 MASTERING PARAMETERS.
6. PRESS –> [ F2 ] APPLY (see screenshot)
7. ENTER –> Code Number (master) xxx xx (this code is provided by the integrator.)
8. PRESS –> [ F4 ] OK (see screenshot)
9. PRESS –> [ FCTN ]
10. PRESS –> [ F4 ] OK (see screenshot)
11. SELECT –> [ 0 ] 0 NEXT
12. SELECT –> [ 8 ] CYCLE POWER (see screenshot)
13. PRESS –> [ YES ] (see screenshot)

CHECKING CALIBRATION

1. PRESS –> [ SELECT ]
2. Using Arrow –> Scroll down the program list until ZERO. (see screenshot)
3. PRESS –> [ ENTER ]
4. PRESS –> [ SHIFT + COORD ]
5. At TOOL line, ENTER –> [ 1 ]
6. PRESS –> [ SHIFT + COORD ]
7. At USER line, ENTER –> [ 0 ]
8. Place cursor to line 1. (see screenshot)
9. PRESS –> [ SHIFT + FWD ] Press and hold the SHIFT key until the robot is at this position.
10. Check 0° marks on each joint of the robot to see if they perfectly match.
11. PRESS –> [ POSN ]
12. PRESS –> [ F2 ] JOINT
13. Each joint should be at 0.

Tutorial – Quick Mastering Procedure.pdf

In certain circumstances, mastering all axis at the same time is impossible. This procedure will execute quick mastering for selected axis. These selected axis must be at their reference positions. This procedure must be done with the controller selector key to T1 and teach pendant to ON. 

You will find a downloadable

ENABLING MASTERING

1. PRESS –> [ MENU ]
2. SELECT –> [ 0 ] 0 NEXT
3. SELECT –> [ 6 ] 6 SYSTEM
4. PRESS –> [ 2 ] Variables (see screenshot )
5. Using Arrow –> Scroll down the variables list until you get to $MASTER_ENB.
6. PRESS –> [ 1 ] (see screenshot)
7. PRESS –> [ ENTER ]

QUICK MASTERING

Jog the joint of the robot until the reference marks are aligned (most of the time they are the 0° marks of each joint) Other joints but the one to be mastered don’t have to be at mastering position. With this procedure, you can master more than one joint at the time.

1. PRESS –> [ MENU ]
2. SELECT –> [ 0 ] 0 NEXT
3. SELECT –> [ 6 ] 6 SYSTEM
4. SELECT –> [ 3 ] 3 Master/Cal (see screenshot)
5. Using Arrow –> Scroll down to line 4 QUICK MASTER FOR SINGLE AXIS. (see screenshot)
6. ENTER –> [ 1 ] (In the (Sel), on each axis to be mastered (0 in (ST) column)
7. PRESS –> [ F5 ] EXEC (see screenshot)
8. If mastering has been done for selected axis, a “2” in column (ST) should appear in all of these axis.
9. PRESS –> [ PREV ]
10. Using Arrow –> Scroll down to line 7 CALIBRATE. (see screenshot)
11. PRESS –> [ F4 ] YES
12. PRESS –> [ F5 ] DONE (see screenshot)

IF A DCS IS IN FUNCTION

1. PRESS –> [ MENU ]
2. SELECT –> [ 0 ] 0 NEXT
3. SELECT –> [ 6 ] 6 SYSTEM
4. SELECT –> [ 8 ] 8 DCS (see screenshot)
5. Using Arrow –> Scroll down to line 11 Mastering parameters.
6. PRESS –> [ F2 ] APPLY (see screenshot)
7. ENTER –> The code number (master): xxxx (This code is provided by the integrator.)
8. PRESS –> [ F4 ] OK (see screenshot)
9. PRESS –> [ FCTN ] (see screenshot)
10. PRESS –> [ F4 ] OK
11. SELECT –> [ 0 ] 0 NEXT
12. SELECT –> [ 8 ] 8 CYCLE POWER (see screenshot)
13. PRESS –> [ YES ] (see screenshot)

CHECKING CALIBRATION

1. PRESS –> [ SELECT ]
2. Using Arrow –> Scroll down the program list until ZERO. (see screenshot)
3. PRESS –> [ ENTER ]
4. PRESS –> [ SHIFT + COORD ]
5. At TOOL line, ENTER –> 1
6. PRESS –> [ SHIFT + COORD ]
7. At USER line, ENTER –> 0
8. Place cursor to line 1. (see screenshot)
9. PRESS –> [ SHIFT + FWD ] (Press and hold the SHIFT key until the robot is at this position.) 
10. Check 0° marks on each joint of the robot to see if they perfectly match.
11. PRESS –> [ POSN ]
12. PRESS –> [ F2 ] JOINT
13. Each joint should be at 0.

Tutorial – Single axis quick mastering procedure.pdf

You must have a MACRO program recorded. For this procedure, the program “HOME_DIRECT” is set as a MACRO. The desired key combination is [SHIFT] and [SETUP].

You will find a downloadable

1. PRESS –> [ MENU ]
2. SELECT –> [ 6 ] 6 SETUP
3. SELECT –> [ 6 ] 6 MACRO (see screenshot)
4. With Arrow –> Scroll down to the list of macro and find an empty spot. (Spot number 7 will be used for this example)
5. PRESS –> [ ENTER ]
6. Enter a macro name (can be different from macro program name) Enter “HOMING” (see screenshot)
7. PRESS -> [ ENTER ]
8. With Arrow –> Move to right under Program Column. (on the same line) 
9. PRESS –> [ F4 ] [ CHOICE ]
10. PRESS –> [ F2 ] [ MACRO ] (see screenshot )
11. With Arrow –> Scroll down the macro list until you find “HOME_DIRECT”.
12. PRESS –> [ ENTER ]
13. With Arrow –> Move to right.
14. PRESS –> [ F4 ] [ CHOICE ]
15. SELECT –> [ 3 ] 3 SU (see screenshot)
16. With Arrow –> Move to right under “Assign” colum.
17. ENTER –> 4 for SETUP key (check eDoc documentation for information)
18. PRESS –> [ ENTER ] 

Tutorial – Setting up Teach Pendant key combination.pdf

This procedure will help you create a one key press action. For example, let’s say you want to open or close a gripper by pressing a key on the teach pendant. Here’s how to do it.

You will find a downloadable

SETTING THE MACRO COMMAND

1. PRESS –> [ SELECT ]
2. PRESS –> [ F2 ] CREATE
3. Using arrows, SCROLL DOWN to –> Upper case
4. Using F1 to F5 keys, Enter program name « Gripper » (see screenshot)
5. PRESS –> [ ENTER ] 
6. PRESS –> [ F2 ] DETAIL
7. Using Arrow –> Scroll down to “Sub type:”
8. PRESS –> [ F4 ] CHOICE
9. SELECT –> [ 3 ] 3 Macro (see screenshot)
10. PRESS –> [ ENTER ] 
11. Using Arrow –> Scroll down to “Group Mask:” (see screenshot)
12. PRESS –> [ F5 ] *
13. PRESS –> [ F1 ] END
14. PRESS –> [ F1 ] [ INST ] (if you don’t have [INST], PRESS –> [NEXT])
15. SELECT –> [ 3 ] 3 IF/SELECT
16. SELECT –> [ 8 ] 8 –next page–
17. SELECT –> [ 1 ] 1 IF (…) THEN (see screenshot)
18. SELECT –> [ 3 ] 3 DO[ ] (see screenshot)
19. ENTER –> 10
20. PRESS –> [ ENTER ]
21. PRESS –> [ F1 ]
22. SELECT –> [ 2 ] 2 AND (see screenshot)
23. SELECT –> [ 3 ] 3 DO
24. ENTER –> 11 (see screenshot)
25. PRESS –> [ ENTER ]
26. Using Arrow –> Move cursor to left to highlight DO [11]
27. PRESS –> [ F5 ] !
28. Using Arrow –> Scroll down one line.
29. PRESS –> [ F1 ] [INST]
30. SELECT –> [ 2 ] [ I/O ] (see screenshot)
31. SELECT –> [ 1 ] DO[ ]=… (see screenshot)
32. ENTER –> 10
33. PRESS –> [ ENTER ]
34. SELECT –> [ 2 ] 2 OFF (see screenshot)
35. Using Arrow –> Scroll down one line.
36. PRESS –> [ F1 ] [INST]
37. SELECT –> [ 2 ] [I/O]
38. SELECT –> [ 1 ] DO[ ]=…
39. ENTER –> 11
40. PRESS –> [ ENTER ]
41. SELECT –> [ 1 ] ON (see screenshot)
42. PRESS –> [ F1 ] [ INST ] (if you don’t have [INST], PRESS –> [NEXT])
43. SELECT –> [ 3 ] 3 IF/SELECT
44. SELECT –> [ 8 ] 8 –next page–
45. SELECT –> [ 2 ] 2 ELSE (see screenshot)
46. Using Arrow –> Scroll down one line.
47. PRESS –> [ F1 ] [ INST ]
48. SELECT –> [ 2 ] [I/O]
49. SELECT –> [ 1 ] DO[ ]=…
50. ENTER –> 11
51. PRESS –> [ ENTER ]
52. SELECT –> [ 2 ] 2 OFF
53. Using Arrow –> Scroll down one line.
54. PRESS –> [ F1 ] [ INST ]
55. SELECT –> [ 2 ] [I/O]
56. SELECT –> [ 1 ] DO[ ]=…
57. ENTER –> 10
58. PRESS –> [ ENTER ]
59. SELECT –> [ 1 ] 1 ON (see screenshot)
60. PRESS –> [ F1 ] [ INST ] (if you don’t have [INST], PRESS –> [NEXT])
61. SELECT –> [ 3 ] 3 IF/SELECT
62. SELECT –> [ 8 ] 8 –next page–
63. SELECT –> [ 3 ] 3 ENDIF (see screenshot)

SETTING THE USER KEY

1. PRESS –> [ MENU ]
2. SELECT –> [ 6 ] 6 SETUP
3. SELECT –> [ 6 ] 6 MACRO (see screenshot) 
4. Using Arrow –> Scroll down to an empty line.
5. PRESS –> [ ENTER ] (see screenshot)
6. Using Arrows, SCROLL DOWN to –> Upper case
   
7. With F1 to F5 keys, enter the name  –> « Gripper » (see screenshot)
8. PRESS –> [ ENTER ]
9. Using Arrow –> Move cursor right to “Program” column.
10. PRESS –> [ F4] [CHOICE]
11. PRESS –> [ F2] MACRO
12. Using Arrow –> Scroll down to “GRIPPER”.
13. PRESS –> [ ENTER ]
14. Using Arrow –> Move cursor right.
15. PRESS –> [ F4] [CHOICE]
16. PRESS –> [ 2 ] 2 UK (For User Key) (see screenshot)
17. Using Arrow –> Move cursor right to “Assign” column.
18. ENTER –> [1] (number 1 is selecting TOOL 1 key of the teach pendant.) (see screenshot)

CHECKING USER KEY SET UP

1. PRESS –> [ I / O ]
2. PRESS –> [ TOOL 1 ] (Each pressing of TOOL 1 key will alternate the state ON or OFF of DO[10: Gripper open] and DO[11:Gripper Close]) 
3. Usable Macro Keys :

Tutorial – Setting up user key macro command assignment on teach pendant.pdf

This procedure is valid for previously set DCS parameters.

You will find a downloadable

1. PRESS –> [ MENU ]
2. SELECT –> [ 0 ] 0 NEXT
3. SELECT –> [ 6 ] 6 SYSTEM
4. SELECT –> [ 7 ] 7 DCS (see screenshot)
5. Using arrow, SELECT –> 1 of the 4 first option (see screenshot)
6. PRESS –> [ F3 ] [ DETAIL ]
7. PRESS –> [ F3 ] [ DETAIL ] (see screenshot)
8. Using arrow, SELECT –> Line 2 Enable/Disable (see screenshot)
9. PRESS -> [ F4 ] [ CHOICE ]
10. SELECT –> [ 1 OR 2 ] 1 DISABLE 2 ENABLE
11. PRESS –> [ PREV ]
12. PRESS –> [ PREV ]
13. PRESS –> [ F2 ] [ APPLY ] (see screenshot)
14. PRESS –> [ X ],  PRESS -> [ X ],  PRESS -> [ X ],  PRESS -> [ X ]   Enter Code number (master): Refer to Robot cell integrator for code xxxx.
15. PRESS –> [ F4 ] [ OK ] (see screenshot)
16. PRESS –> [ FCTN ] (see screenshot)
17. SELECT –> [ 0 ] 0 NEXT
18. SELECT –> [ 8 ] 8 CYCLE POWER (see screenshot)
19. PRESS –> [ YES ] (see screenshot)

Tutorial – Enabling – Disabling DCS.pdf

This video tutorial shows how to set up a DCS – Cartesian position check using a Teach Pendant from a FANUC robot.

You have to determine the “The zone” for which you want to set a cartesian position check. Let’s say, for example, you want to set up a cartesian position check for the electrical panel of the cell. The purpose of the cartesian position check is to protect the electrical panel from the robot.

You will find a downloadable

1. PRESS –> [ MENU ]
2. SELECT –> [ 0 ] 0 NEXT
3. SELECT –> [ 6 ] 6 SYSTEM
4. SELECT –> [ 7 ] 7 DCS (see screenshot)
5. Using arrow –> Scroll down to line 3 : Cart. Position check
6. PRESS –> [ NEXT ] Press [NEXT] until you see F3 key as DETAIL
7. PRESS –> [ F3 ] DETAIL
8. Using Arrow –> Scroll down to an empty Cartesian position check that is not defined Let’s say line 4. (see screenshot) 
9. PRESS –> [ F3 ] DETAIL
10. At line 2, PRESS –> [ ENTER ]
11. ENTER –> A comment like : Panel (see screenshot) 
12. At line 3, PRESS –> [ F4 ] [ CHOICE ]
13. SELECT –> [ 2 ] 2  Restricted zone (Diagonal). (this will set a rectangular prism where the robot will not have access.)
14. At line 8, ENTER –> 0 (to set the rectangular zone reference to the World frame.)
15. At line 9, 10 and 11, ENTER –> The coordinates of the two points of the diagonal, which reference is the world frame according to which the rectangular prism et located in space. (Enter these numbers -> See screenshot)
16. At line 12, PRESS –> [ F4 ] [ CHOICE ]
17. SELECT –> [ 1 ] 1 Stop Category 0 (This will set the robot to stop its motors immediately.)
18. At line 2, PRESS –> [ ENTER ]
19. If the question “Do you want to change the settings?” is asked, PRESS –> [ F4 ] YES
20. PRESS –> [ F4 ] [ CHOICE ]
21. PRESS –> [ 2 ] 2 ENABLE
22. PRESS –> [ PREV ]
23. PRESS –> [ PREV ]
24. PRESS –> [ F2 ] APPLY
25. ENTER –> Code number (master): xxxx (Refer to Robot cell integrator for code.)
26. PRESS –> [ F4 ] OK  (see screenshot)
27. PRESS –> [ FCTN ]
28. SELECT –> [ 0 ] 0 NEXT
29. SELECT –> [ 8 ] 8 CYCLE POWER  (see screenshot)
30. PRESS –> [ YES ]
31. The DCS set up will be added to the one already in function. (see screenshot)

Tutorial – Setting up a DCS – Cartesian position check.pdf