This procedure is use to change user frame number to a section or all of a program points.

You will find a downloadable

1. PRESS –> [ SELECT ]
2. Choose the program you want to make user frame reference changes.
3. PRESS –> [ ENTER ]
4. PRESS –> [ MENU ]
5. SELECT –> [ 1 ] 1 UTILITIES
6. SELECT –> [ 9 ] 9 Frame Offset
7. PRESS –> [ F4 ] [CHOICE]
8. Select the program in which the changes have to be made.
9. PRESS –> [ ENTER ]
10. Using Arrow –> Scroll down to the 2nd line. 
11. PRESS –> [ F4 ] [PART]
12. Using Arrow –> Scroll down to the 3rd line. 
13. ENTER –> The number where the changes should start.
14. PRESS –> [ ENTER ]
15. Using Arrow –> Scroll down to the 5th line. 
16. ENTER –> A new program name (or keep the same one.)
17. PRESS –> [ ENTER ]
18. Using Arrow –> Scroll down to the 6th line. 
19. If you kept the same program name, enter a program line number where the lines with the switched frames will be copied. If you have changed the program name the step before, no “insert line” will be asked.
20. PRESS –> [ ENTER ] (if you have entered an “insert line” number) (see screenshot)
21. Using Arrow –> Scroll down until the next page appear.
22. ENTER –> Old frame number (the frame number on which the points where reference to)
23. PRESS –> [ ENTER ]
24. Using Arrow –> Scroll down to the 2nd line. 
25. ENTER –> New frame number (the frame number on which the points on which you want to reference them to)
26. PRESS –> [ ENTER ]
27. Using Arrow –> Scroll down to the 3rd line. 
28. PRESS –>[ F4 ] YES (points will keep there physical position unchanged but there references will be changed with coordinate according to the new frame)
29. PRESS –> [ F2 ] EXECUTE
30. PRESS –> [ F4 ] YES
31. DELETE –> Lines 4 to 8
32. CHANGE –> UFRAME_NUM from 1 to 0.

Switching user frames without changing the physical points positions (PDF).pdf

This procedure is use to change user frame number to a section or all of a program points.

You will find a downloadable

1. PRESS –> [ SELECT ]
2. Choose the program you want to make user frame reference changes.
3. PRESS –> [ ENTER ]
4. PRESS –> [ MENU ]
5. SELECT –> [ 1 ] 1 UTILITIES
6. SELECT –> [ 9 ] 9 Frame Offset
7. PRESS –> [ F4 ] [CHOICE]
8. Select the program in which the changes have to be made
9. PRESS –> [ ENTER ]
10. Using Arrow –> Scroll down to the 2nd line. 
11. PRESS –> [ F4 ] [PART]
12. Using Arrow –> Scroll down to the 3rd line. 
13. ENTER –> The number where the changes should start. [4]
14. PRESS –> [ ENTER ]
15. Using Arrow –> Scroll down to the 4th line. 
16. ENTER –> The number where the changes should end. [8]
17. PRESS –> [ ENTER ]
18. Using Arrow –> Scroll down to the 5th line. 
19. ENTER –> A new program name (or keep the same one.)
20. PRESS –> [ ENTER ]
21. Using Arrow –> Scroll down to the 6th line. 
22. If you kept the same program name, enter a program line number where the lines with the switched frames will be copied. If you have changed the program name the step before, no “insert line” will be asked. [10]
23. PRESS –> [ ENTER ] (if you have entered an “insert line” number)
24. Using Arrow –> Scroll down until the next page appear.
25. ENTER –> Old frame number (the frame number on which the points where reference to) [1] (for this example)
26. PRESS –> [ ENTER ]
27. Using Arrow –> Scroll down to the 2nd line. 
28. ENTER –> New frame number (the frame number on which the points on which you want to reference them to) [2] (for this example)
29. PRESS –> [ ENTER ]
30. Using Arrow –> Scroll down to the 3rd line. 
31. PRESS –> [ F5 ] NO (Physical positions will be changed. The points coordinates will remain the same but positions will be shifted according to the new frame)
32. PRESS –> [ F2 ] EXECUTE
33. PRESS –> [ F4 ] YES
34. PRESS –> [ EDIT ]
35. Delete lines 4 to 8 –> PRESS [ F5 ] [EDCMD] (press [NEXT] if you don’t see it)
36. CHANGE –> UFRAME_NUM from 1 to 2.

Switching user frame to change the physical point positions (PDF).pdf

This tutorial shows how to background edit a program in Teach Pendant from a FANUC robot. Background edit function allows modification on a TP program with the Teach Pendant selector is turned off (useful in automatic mode).

N.B. Modifications in the background editing program can be applied only once the selected program is not running.

1. PRESS –> [ SELECT ]
2. PRESS –> [ ITEM ]
3. PRESS –> KEY [ 1 ]
4. SELECT –> 1 -BCKEDT- 
5. Choose the program you want to make changes
6. PRESS –> [ OK ]
7. Make changes that you desire for your program
8. PRESS –> [ F5 ] [ EDCMD ]
9. SELECT –>[ 7 ] [ END_edit ]

This video explains how to setup iRVision simulation using FANUC ROBOGUIDE.  ROBOGUIDE is a full featured 3D simulation package for FANUC robots.  When iRVision simulation is enabled with-in a ROBOGUIDE workcell a user can create virtual iRVision cameras and actually guide the virtual robot using the virtual camera with iRVision.  Using iRVision simulation during the engineering phase of any vision guided application can save time and money.  2D, 3DL and 3D Area Sensor all have virtual versions with-in ROBOGUIDE.

Click here for more informations about -> FANUC

This video explains how to setup iRVision simulation using FANUC ROBOGUIDE.  ROBOGUIDE is a full featured 3D simulation package for FANUC robots.  When iRVision simulation is enabled with-in a ROBOGUIDE workcell a user can create virtual iRVision cameras and actually guide the virtual robot using the virtual camera with iRVision.  Using iRVision simulation during the engineering phase of any vision guided application can save time and money.  2D, 3DL and 3D Area Sensor all have virtual versions with-in ROBOGUIDE.

Click here for more informations about -> FANUC

This video is an overview of the iRVision 3D Model Matching vision process. The video covers what kind of parts the 3D Model Matching vision process is useful for and which would not work so well. Also covered are step by step instructions for teaching the 3D Model Matching vision process.

Click here for more informations about -> FANUC

This procedure is used to change a series of point positions in a program.

You will find a downloadable

1. PRESS –> [ SELECT ]
2. Choose the program you want to make user frame reference changes. (see screenshot)
3. PRESS –> [ ENTER ]
4. PRESS –> [ MENU ]
5. SELECT –> [ 1 ] 1 UTILITIES
6. SELECT –> [ 5 ] 5 Prog Adjust
7. PRESS –> [ F2 ] DETAIL
8. Select the program in which the changes have to be made
9. PRESS –> [ ENTER ]
10. Using arrow –> Scroll down to the 2nd line.
11. ENTER –> The number where the changes should start.
12. Using arrow –> Scroll down to the 3rd line.
13. ENTER –> The number where the changes should end.
14. PRESS –> [ ENTER ]
15. Using arrow –> Scroll down to the 4th line.
16. PRESS –> [ F4 ] [ CHOICE ]
17. SELECT –>[ 1 ] 1 USER (Or 2 TOOL, depending according to what the adjustment is made).
18. Using arrow –> Scroll down to the 5th line.
19. Enter an amount of millimeters for which the selected points will be move according to the USER frame X axis, on which they are referenced on.
20. PRESS –> [ ENTER ] (if you have entered something)
21. Using arrow –> Scroll down to the 6th line.
22. Enter an amount of millimeters for which the selected points will be move according to the USER frame Y axis, on which they are referenced on.
23. PRESS –> [ ENTER ] (if you have entered something)
24. Using arrow –> Scroll down to the 7th line.
25. Enter an amount of millimeters for which the selected points will be move according to the USER frame Z axis, on which they are referenced on.
26. PRESS –> [ ENTER ] (if you have entered something)
27. Using arrow –> Scroll down to the 8th line.
28. Enter an amount of degrees for which the selected points will be move according to the USER frame W, on which they are referenced on.
29. PRESS –> [ ENTER ] (if you have entered something)
30. Using arrow –> Scroll down to the 9th line.
31. Enter an amount of degrees for which the selected points will be move according to the USER frame P, on which they are referenced on.
32. PRESS –> [ ENTER ] (if you have entered something)
33. Using arrow –> Scroll down to the 10th line.
34. Enter an amount of degrees for which the selected points will be move according to the USER frame R, on which they are referenced on.
35. PRESS –> [ ENTER ] (if you have entered something)
36. Using arrow –> Scroll down to the 11th line.
37. Enter an amount of mm/s for which the speed of the selected linear or circular points will be changed.
38. PRESS –> [ ENTER ] (if you have entered something)
39. Using arrow –> Scroll down to the 12th line.
40. Enter an amount of % for which the speed of the selected joint points will be changed. (see screenshot)
41. PRESS –> [ ENTER ] (if you have entered something)
42. PRESS –> [ F4 ] ENABLE (see screenshot)
43. PRESS –> [ NEXT ]
44. PRESS –> [ F2 ] CLR_ADJ
45. PRESS –> [ F4 ] YES (This will make the adjustment permanent) (see screenshot)
46. PRESS –> [ F3 ] CLR_ALL (see screenshot)
47. PRESS –> [ F4 ] YES (This will clear the adjustment schedule listed on the previous page) (see screenshot)

Tutorial – Making point adjustments with utility function “Prog Adjust”.pdf

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