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The robot is a collection of axes that each have a specific range of motion and distance from one another. The processor calculates the position of the robot’s Tool Center Point (TCP) by the angle of each axis and the known distance to the next.
By default, FANUC robots calculate position in the real world by the center of the plate on the end of the last actuator. When you attach a tool, you must tell the robot where the effective end of the tool is, relative to the tool center plate.
This can be done through direct entry of measurements taken from the TCP but FANUC includes useful utilities for automatically calculating a new tool center point. We will detail the 3-point method in this lab.
'''Frames:'''
== The Three-Point Method ==
The three-point method for tool frames is to teach the positional data of the effective end of the tool. This does not teach the orientation, but for many uses is sufficient.
Start by opening the menu with the MENU button on the keypad.
Using the arrow keys, cursor down to SETUP and select the submenu item “Frames”.
The SETUP Frames page will be displayed, but depending on which frame was last edited, may not yet be on Tool Frames.
The image on the left shows that User Frame is selected. We want to switch to Tool Frame.
To change to Tool Frame, hit the center softkey |OTHER| and select “Tool Frame” in the menu.
Once on the “Tool Frame” setup page, select an available Tool frame. If none are available, select one that is not yet in use this semester.
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{| class="wikitable"
|[[File:MenuSetup.png|thumb]]
The image on the left shows that User Frame is selected. We want to switch to Tool Frame.
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{| class="wikitable"
|[[File:TOOL_FRAMES_PAGE.png|thumb]]
|<nowiki>To change to Tool Frame, hit the center softkey |OTHER| and select “Tool Frame” in the menu.</nowiki>
Once on the “Tool Frame” setup page, select an available Tool frame. If none are available, select one that is not yet in use this semester.
'''What is the number of the Tool Frame you selected? ____________'''
At the bottom of the screen, find and hit the softkey “CLEAR”.
Accept all prompts to clear the frame’s data and comment.
At the bottom of the screen, find and hit the softkey “DETAIL”.
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|[[File:Frame method menu.png|thumb]]
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