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Position Registers in Fanuc RoboGuide – A Complete Guide » Mastering Robots
Mastering Robots
Position Registers in Fanuc RoboGuide – A Complete
Guide
July 7, 2021 by Robots (https://masteringrobots.com/author/robots)
Position Registers in Fanuc RoboGuide is a very useful option for every robot programmer. It
reduces the programming effort and in turn simplifies the complexity of the program.
There fore this post will provide a complete guide on using the Position Registers in Fanuc
RoboGuide.
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Table Of Contents
What is Position Registers in Fanuc RoboGuide
How to Access Position Registers in Teach Pendant
Position Registers in Fanuc Roboguide
Position Registers Storage Capacity in a Teach Pendant
Advantages of using Position Registers
Types of Position Registers in Fanuc Roboguide Syntax
Position Registers Add Option
Position Registers Comment
Position Registers Delete Option
Position Registers PR [i] Value
Position Registers PR [i] Arthmetic Instructions
Position Registers PR [i,j] Axis Instructions
Position Registers PR [i,j] Value
Position Registers PR [i,j] Arthmetic Instruction
What is Position Registers in Fanuc RoboGuide
Controlling of Robots is possible either by joint, user or world mode and each mode values
varies either by angle or coordinate entries.
Data related to saved points and space values stored in position register are accessable to
any program written for a given robot.
Global Position is a synomus name for Position Register for a given robot. Refer to examples
for Position Registers –
Position Registers is capable of storing – A Position, Home Position, Safe Position, Tool
Change, Tool Modification etc. Users can call the position register in any program for a given
robot.
In simple terms Position Registers functions as a general purpose register for holding position
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data.
Although a Position Registers stores data globally, they do not have User tool and User frame
linked to it. This is one positive reason why using a position register data universally provides
lot more flexibility.
Note –
1) Using Position Registers simplifies the program and reduced the steps in the main
program.
2) Use the Joint with Cartesian Coordinate system to store the Position Registry
3) I recommend watching a video on Position Registers (https://www.youtube.com/watch?
v=3LeosDMstbc)
CAUTION
If teaching is made by joint coordinates, changing the user coordinate system does not
affect the position variables and position registers. If teaching is performed in cartesian
coordinates, and the user coordinate system input option is not used, the position
variable is not influenced by the user coordinate system. In other cases, both the
position variable and position registers are influenced by the user coordinate system.
WARNING
Position registers are used in a program. Never change the value of a position registers
before checking how the register is used in the system. Otherwise, the program can be
adversely affected.
How to Access Position Registers in Teach Pendant
Position Registers in Fanuc Roboguide
Step – 1 Access to Position Register in Teach Pendant (https://masteringrobots.com/start-arobot-program-in-fanuc-teach-pendant.html) is via DATA Button.
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Position Register in Fanuc
A user can now click on [ TYPE ] and in turn select Position Reg (Option 2) to enable the
Position Registers
How to Access Position Register in Roboguide
Step – 2 Press the MENU button to enable the MENU 1 option > Select 0 – – NEXT – – > to move
to MENU 2. Now select 3 DATA > to choose the Position Registers
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Access DATA option from Fanuc Teach Pendant
Position Registers Storage Capacity in a Teach Pendant
A position registers storage capacity can go up to 100 entiers in a teach pendant. Firstly, a
user can utilise all the 100 points in a program. Secondly, it also used in any program
unlimited number of times.
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Access to Position Register in Fanuc Robot with 100 Entries
Advantages of using Position Registers
1. The points saved in position registers are accessible in multiple programs
2. This simplifies the programming complexity, therefore it is more often used by
experienced programmers.
3. Moreover, it reduces the need for repetitively programming of points and enables the
use of stored points with a name – like Home Position.
4. In fact, by choosing Joint Mode, position registry can be more flexible in working across
different user frames and tool frames.
5. Positions stored in Position Registers is accessible globally and hence, used in 100’s of
program and subprogram.
6. Position Registers can store arithmetic functions such as sum of two values or difference
of two values in a specified register.
7. The data in position registers does not include UF and UT data. But, the data is better
accessible in the respective UT and UF.
Types of Position Registers in Fanuc Roboguide Syntax
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NOTE – In a multi–motion group system, teaching a position registers records the position
data for all axes regardless of the current motion group. With pressing F3 “RECORD” while
holding the SHIFT Key enables the storage of value in a PR
In general, the syntax for Position Register is
PR[ X : comment ] =* , where X = 1,2,3 … 100
To begin with, the * – indicates, PR value for x is not available. However, when a R is visible,
the position register has values present in it.
Position Registers Add Option
Besides, accessing Position Data, users can for instance, add to the Position Registers. To add
a Position Data in a Position Registers follow the steps below
Position Register Add Option
Firstly, Press the SHIFT Key with RECORD option. Accordingly the position data is stored in
the Position Registers.
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Position Registers Comment
The comment can consist of 16 characters, as a result, this can describe the nature of data.
For example Home Position. To add a comment, move to the desired position registers
number and press ENTER key and select a character input method and inturn press the
desired function key. Finally press the ENTER key.
Roboguide Position Register Comment Entry 16 Character
It is clear that position registers is a variable for holding position data (x, y, z, w, p, r)
PR [ 1 ]
In the above syntax, the position register must set the values of all SIX elements at once.
Position Registers Delete Option
To clear or delete the position data loaded in the position registry data Press F5 “CLEAR”
while holding the SHIFT Key in the Teach Pendant (https://masteringrobots.com/teachpendant-to-control-an-industrial-robot.html). Finally, Press Yes to clear the position data.
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Position Register Clear Option
Position Registers PR [i] Value
Result
=
Variable
Description
PR [i ]
=
P [i]
Position [i]
PR [i]
=
PR [i]
Position Register [i]
PR [i]
=
Lpos
Cartesian Coordinate of Current Position
PR [i]
=
Jpos
Joint Coordinate of Current Position
PR [i]
=
UFRAM [i]
Value of User Coordinate System [i]
PR [i]
=
UTOOL [i]
Value of Tool Coordinate System [i]
Position Register Value
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To begin with, the above instructions, loads the position data into a specified position
register. Therefore, Position Register is a powerful tool for robot programmers.
Position Registers PR [i] Arthmetic Instructions
Result
=
Variable
Operation ( ± )
Variable
Description
PR [i]
=
PR [i]
±
PR [i]
Position Register
PR [i]
=
P [i]
±
P [i]
Position
PR [i]
=
Lpos
±
Lpos
Cartesian Coordinate
PR [i]
=
Jpos
±
Jpos
Joint Coordinate
PR [i]
=
UFRAM [i]
±
UFRAM [i]
Value of User Frame
PR [i]
=
UTOOL [i]
±
UTOOL [i]
Value of User Tool
Program Register Arthmetic Instructions
A programmer, eventually, utilizes the above Arithmetic Functions in a program for different
scenario. The ± symbol indicates both positive and negative expressions. Additionally,
Multiplication, Divison, MOD and DIV are parameters that can suffix in the arithmetic
functions.
Position Registers PR [i,j] Axis Instructions
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PR [ i , j ]
Description
i
Position Register Number ( 1 – 100 )
j
Position Register Element Number
Two types of j
Cartesian Coordinate System
Joint Coordinate System
1=X
1 = J1
2=Y
2 = J2
3=Z
3 = J3
4=W
4 = J4
5=P
5 = J6
6=R
6 = J6
Position Register Axis Instructions – Format
A position registers axis instructions performs an arthmetic operations on position register.
Firstly, the i of the PR [i ,j] represents the position registers number. Secondly the j of PR [i,j]
represents a position register element number.
Note – Infact, the position registers axis instruction can load the value of one position data
element. In addition to this, it can also load sum, difference, product or quotient of two
values into a specified position register.
Position Registers PR [i,j] Value
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PR [ i, j ]
=
Value
Refer to the Table
=
AR[i]
PR [i,j]
=
Constant
A Whole Number
PR [i,j]
=
R [i]
A Register [i]
PR [i,j]
=
PR [i,j]
A Position Register
PR [i,j]
=
GI [i]
Group Input Signal
PR [i,j]
=
GO [i]
Group Output Signal
PR [i,j]
=
AI [i]
Analog Input Signal
PR [i,j]
=
AO [i]
Analog Output Signal
PR [i,j]
=
SDI [i]
System Input Digital Signal
PR [i,j]
=
SDO [i]
System Digital Output Signal
PR [i,j]
=
RDI [i]
Robot Digital Input Signal
PR [i,j]
=
RDO [i]
Robot Digital Output Signal
PR [i,j]
=
SI [i]
Operation Panel Input Signal
PR [i,j]
=
SO [i]
Operation Panel Output Signal
PR [i,j]
=
UI [i]
Peripheral Device Input Signal
PR [i,j]
=
UO [i]
Peripherial Device Output Signal
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Description
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PR [i,j]
=
Timer [i]
Value of Program Timer [i]
PR [i,j]
=
Timer Overflow [i]
Overflow flag of program timer [i]
0 – Timer has not overflowed
1 – Timer has overflowed
Position Register PR [i,j] Value
Based on the above wide varity of options, Indeed it is a preferred choice for programmers.
Position Registers PR [i,j] Arthmetic Instruction
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PR [i,j]
=
Value
Operator
Value
PR [i,j]
=
AR [i]
+
AR [i]
Constant
–
Constant
R[i]
*
R[i]
PR [i,j]
/
PR [i,j]
GI [i]
MOD
GI [i]
GO [i]
DIV
GO [i]
AI [i]
AI [i]
AO [i]
AO [i]
SDI [i]
SDI [i]
SDO [i]
SDO [i]
RDI [i]
RDI [i]
RDO [i]
RDO [i]
SI [i]
SI [i]
SO [i]
SO [i]
UI [i]
UI [i]
UO [i]
UO [i]
Timer [i]
Timer [i]
Timer Overflow [i]
Timer Overflow [i]
Position Register PR [i,j] Arthmetic Instruction
Example of above functions are PR[i,j] = R[3] + DI[4]
To summarize , Position Registers is a important tool. In fact, they are a programmers first
choice in the same way as Position Data.
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Program with Ease
Learn to Program a Robot using Fanuc RoboGuide. A complete solution blog covering every
aspect of RoboGuide
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