Joint, linear and circular movements with FANUC robots / FINE and CNT termination types

Hello guys and welcome to the next video, today I wanted to talk a bit about different movement types in FANUC.
What are the differences and how to program: Joint, Linear and circular movements using FANUC robot ?
How does termination type change the robot behavior ? (CNT vs FINE)
What is ACC and why we are using it ?
🍿 Enjoy ! 🍿
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Intro (0:00)
Introduction (0:59)
Movement types (3:13)
Termination types (7:08)
Acceleration (10:34)
Exercise (11:21)
Joint/Linear/Circular (12:24)
FINE/CNT (22:00)
#FANUC
#robot
#programming
#automotive

[@RoboticsWithHrithik]

I was searching for such thing in the entire internet than I found this video. Great video!!! keep it up

[@ederleite9446]

Thank you very much! I'm a beginner in robotics and your videos are helping me a lot! My learning curve is getting faster.

[@snagarathinam163]

LET ME JUST SAY. ITS ABSOLUTLY AWESOME MATE. WHERE WERE YOU ALL THESE DAYS EH? YOU'VE BEEN SO HELPFUL ON ME FOR CLEARING MY DOUBTS MATE. THEM LINEAR AND JOINT AXES REALLY CONFUSED ME LATELY. CHEERS MATE. KEEP EM UP.

[@claygarland4227]

i had to come back and watch this again because i'm trying to make an ark, but i was making the mid point the end point, which caused it to swing down, not around, thanks for the help, keep up the good work

[@FutureRoboticsChannel]

Awesome, good job :-) Happy to help

[@jeremyo1457]

I remembered when I was trying to learn the circle when I was trying to put dispense around some capacitors on a PCB and it was a nightmare lol. I wish I would of saw this video when I was doing it for the first time. I eventually got it down but it defiantly took a while lol. Thank you for this video and the perfect explanation!!!!)))

[@paulvanhulle5002]

Quiz questions for this video 1 What are the three types of motion instructions for a Fanuc robot a Joint b Linear c Circular d Counter clockwise circle e Clockwise circle f Angular g Spline 2 What are the two types of point registers on a Fanuc robot a P[1] b PR[1] c AR[1] d END point e Start point 3 Joint movements use percentages for movement speeds a TRUE b FALSE 4 Linear movements use mm/s for movement speeds a TRUE b FALSE 5 Joint movements are more accurate and take more time for the robot to move. a TRUE b FALSE 6 Joint movements tells the machine to make all axis motors move as fast as possible and may even make the machine crash into an obstacle a TRUE b FALSE 7 What are the types of termination types a Fine b CNT c End point d Start point 8 ACC tells the robot how fast to start the movement a TRUE b FALSE 9 Which motion type moves the TCP in a straight line from the start position to the destination position? --- a Linear b Joint c Circular d Spline e I don't know 10. An at (@) symbol in front of a line of code indicates that the robot is currently at that point position a. TRUE b. FALSE 11. During joint movements. The robot might cash into objects because it does not move in a straight line. a. TRUE b. FALSE 12) What symbol is used to indicate that the robot is at the taught position? -- a) = b) $ c) ! *d) @ 1. a,b,c; 2. a,b; 3 True; 4 True; 5. False; 6. True; 7. a,b; 8. True; 9. a; 10. True; 11. True, 12. d

[@FutureRoboticsChannel]

Great initiative Paul !

[@gtg7529]

Thanks and please keep forward！

[@petermorris1341]

Awesome guidance, please could you cover singularity and how to avoid this, cheers

[@FutureRoboticsChannel]

Sure thing, let me finish Register and Position Registers

[@para2konrad]

Thank you for the video. Keep up the great work:)

[@dudedude5526]

Good video, thank you

[@josel.gramage3359]

Great video. Are you going to do a video about the offsets? I do not fully understand how it works. thanks

[@FutureRoboticsChannel]

Definitely there will be a video about offsets :-) You can watch this video, I'm making a simple palletizing program, but without offsets, just using PR[x]: kzbin.info/www/bejne/aX3IoKZ6gtinmMU

[@josel.gramage3359]

@@FutureRoboticsChannel I'll be waiting for your video. thanks for amazing work

[@obensustam3574]

Such a great video

[@ncm8368]

Very good and nice explanation And helpful plz do vedios on ABB robots

[@FutureRoboticsChannel]

Thank you. I'd love to do videos on other robots, I'll try to find more time :-) Enjoy FANUC videos, rest is to come ! Thanks for warm words, I know that I can continue doing my work and you guys are enjoying it !

[@ShawnC22002]

Greetings! First of all, I cannot thank you enough for all of these videos. We just received new equipment at our facility with 6 FANUC robots, so this has been extremely helpful in getting me up to speed to help with basic troubleshooting when needed and obtaining backups of all of our teach pendants. I had a question on this video regarding the circular movement. I know that in the video you say that you can only do a half circle. But being a curious person, I was wondering - what would happen, if you placed your third point in the exact location of the first point of the circle movement? Would this in theory create a full circle? I would love to test this on my own but FANUC has a new customer portal and has not responded to my request for an account. This obviously isn't that important, just more out of curiosity. Thanks! And keep up the great work!

[@FutureRoboticsChannel]

So there is a way to make a full circle, but it's a bit complicated and have some restrictions to it. The reason why you cannot do a full circle on FANUC with a single command is the way how the math is being handled in the robot controller. To be honest I never tried doing it in the newest controllers R-30iB Plus, maybe they did solve it.

[@kathirvelr4371]

Hi.. I am a beginer in robotics, kindly clarify that during linear/joint/circular movement, robot will travel in which frame?

[@FutureRoboticsChannel]

If you are running a program you will use the User and Tool frame that's assigned to the point, if you are jogging the robot (use the jog keys) you will move in the User and Tool frame that's currently active (you can check it by hitting the SHIFT + COORD button)

[@kathirvelr4371]

Ok..Thanks for your immediate reply..

[@alangutierrez1447]

sir please do a video about setting up automatic cap change we have some that we just put it put the positions for the removal of the cap changes thinking there has something do the with the tip wear update compensating for the dressing of the caps changing the positions help

[@FutureRoboticsChannel]

I would need a bit more information. Could you tell me what standard are you working on, is it a big manufacturer like VW, GM, etc or a small factory ? The way how you calculate your tip wear varies, if you are using build in FANUC solutions it will be different than VW. Next question would be are you using servo guns or pneumatic guns or servo-pneumatic guns, because again the way of calculating tip wear is different, it might be that you are having problems with proportional valve that calculates the position of the gun (if you have servo-pneumatic), if you are using servo gun, maybe the gun mastering was done wrong, so his "0" is not a real "0".

[@atrocious_pr0xy]

I am here because i recently had to try and clear an OVC-046 alarm on the teach pendant, but had no idea about the 3 stage deadman. i did everything else right, even with literally NO training on that pendant. my boss was out for the day and i had not had a chance to jog the robot at all.. not the pendant for the FANUC, nor the control panel for the E80 head attached to our robot. so, i was winging it. finally just powered off and back on. Win. but i want to know more..

[@FutureRoboticsChannel]

Great, sounds like you are catching up fast ! Great job you did there. OVC-046 if connected with a robot having to use too much current to hold the axis in place (usually a collision or external forces applied to axis).

[@atrocious_pr0xy]

@@FutureRoboticsChannel right. The head feel on a misaligned box on the conveyor. The fault didn't get sent to the teach until i jogged the head with the relax option. Oof. It sent the alarm to teach. Now i know how to clear it with your help.

[@FutureRoboticsChannel]

@@atrocious_pr0xy Normally if the robot was in motion when that happens you should see Collision detection before the OVC alarm and that's an indication that something is going wrong, maybe you don't have the collision detection set properly, check out my payload video I'm talking a bit about collision detection in there, however I did not make a video about collision detection itself yet

[@FutureRoboticsChannel]

I've just made a video about Collision Guard, it should shine some light on the OVC alarm and collision in general, check it out: kzbin.info/www/bejne/qJa5Yq1srqmAmsU

[@luiscordero8958]

does any know how can i get this software o where ? to be able to practice at home thanks

[@FutureRoboticsChannel]

Sure thing, you can get it from FANUC cRC site: crc.frc.com/login.aspx? Just create account and they will let you download

[@amanmohtta3057]

Where is circle

[@FutureRoboticsChannel]

I have not explained it in that video