Fanuc

Cartesian trajectories for Fanuc robots

Teach pendant	FANUC iPendant touch
Programming / simulation software	ROBOGUIDE
Software
User interface	Fanuc iHMI (Intelligent Human Machine Interface)
Programming language	FANUC Karel (derived from Pascal)
Relevant hardware	R-30iA or R-J3iC (controller)

Further reading

• manual_collection
• manual_slides
• roboguide_help
• reference_manual
• Karel

Trajectory composition

Programming is done with move instructions (robot movement types). (see manual_slides p. 15-16):

• Linear Cartesian motions

  LINEAR: controlled movement of the TCP in a straight line from position A to B

• Circular motions

  CIRCULAR: The TCP follows a circular arc from the initial position to the destination

• Joint space interpolation

  JOINT: basic robot motion with nonlinear toolpath. Tool speed is determined with % of the maximum speed.

Waypoint representation

Points are described with position coordinates x,y, z and rotations w, p, r.

x
y
z
w (x-axis rotation)
p (y-axis rotation)
r (z-axis rotation)

Trajectory parameterization and execution

(see reference_manual)

Specification of velocity

As motions are initiated and controlled in TP the user can only adapt the robot’s motion speed with TP. System configurations and overrides influence the velocity additionally.

specification of acceleration

Specification of acceleration can be done via the following variables:

• acceleration time is fixe and proportional to the programmed speed.
• $USEMAXACCEL: enables ‘fast acceleration’ feature

Blending

Taught positions can either be fly-by points, or stop points:

• FINE: motion stops robot arm briefly at each way point
• CNT (continuous): robot approaches to the point with a distance specified by the CNT value without ever actually reaching the point, so the robots arm moves in a continuous trajectory
• CR (corner radius): like CNT, but specifying a radius for corner rounding allows to precisely define the shape of the blended motion

Parallel IO operations

No information found so far

Online (real-time) trajectory modifications

Dynamic Path Modifier (DPM)

• dynamic path modification using sensor data, so robot’s path can be adapted in real-time

• an external sensor provides postion and orientation offset for the next destination

• applicable to multiple groups

• possible applications:

  • Weave operations
  • Stationary tracking
  • Orientation control

J519 (Stream Motion)

• external protocol for:

  • path trajectory planning
  • near-real time streaming of the path trajectory to the robot
  • enabling highly flexible and dynamic applications

R912 (Remote Motion Interface)

• drip-feed for TP programs