Neptune Labs

I just wanted to take some time to write down the process that I have found works best for me in doing offsets in my robot programs using Fanuc robots.

To start off I use PR 90 as my temp value PR which is where I will store my offset values. I will then use PR 100 as my Zero I use this variable to clear out my PR 90 in between moves or when I want to adjust my offset.

So the code will look like the following:

Ok so lets go through that line by line, the first line we cleared out any data in PR[90] our temp variable. In the next line we set the our X coordinate to be 800mm the “,1” tells us which Joint or axis we are going to be working in. When looking at a teach pendant the icons will match. See the image below:

Finally in the last line we are telling the robot to go to PR[1] but use the offset of 800mm in the X direction and 900mm in the Y direction.

This is a simple but effective way of using offsets for Fanuc Robots.