This way, it is easily recognized if the robot is going to a pounce position or a working position. For position registers, it may be helpful to use lower numbers for home, pounce, or clear of tooling positions. These registers contain x,y,z, and orientation data, globally accessible to all programs and routines. For groups of commands like program select values, counters, offset values, or orientation data, it may be reasonable to break the registers up into functional groups 0-10, 10-20, etc. Numeric registers are stored in a table, so a logical convention should be used. These standard registers are simply integer values, useful for counting repetitions or storing geometric size numbers. This practice is also common in CNC G-codes. Always make sure you leave spare registers between various groups, since it may be necessary to go back and add registers if the program is edited later. Registers allow for a comment description to be added, but screen space is limited so try to make the comment as small as possible. Because these registers are in a tabular format, it may be helpful to use a spreadsheet program to organize your registers before you actually program the robot. It is important to organize your registers and develop a convention on how to populate the registers so that they are grouped by function. Variables are referred to as registers, there are standard numeric registers, position registers, and a few others for specific purposes. Within the FANUC teach pendant (TP) programming language, variables are not defined as in a typical programming language by selecting a boolean, integer, or float data type. Below is a sample programming process for transfer of material to palletize or prepare a welding cell. If the robot is also used to complete the weld, the tool is outfitted with a weld tip and follows a taught path for welding the components together. A common industrial application is to transfer parts from a conveyor to a dial table for welding. The six-axis articulating robots are the most popular style of robot in most industries because of the tool centerpoint (TCP) orientation ability and payload capacity. Just like with the ABB robot, FANUC robots can be used in a wide variety of different applications. This article is a continuation of the robotic programming series. FANUC robots are often used in welding applications.

Fanuc tp programming