Program Adjust Tool

The Dynamic adjustment of the trajectory (Program Adjust Tool) allows to modify certain
points on a trajectory without stopping the application or the robot movement.
The procedure to enter the program adjust tool is as follows:
• MENU
o UTILITIES
▪ F1[TYPE]
• PROG ADJUST

The next window will appear.

FANUC LINE 0
UTILITIES Prog Adj JOINT 10%
Program Lines Status
1 PNS_00001 5 – 15 EDIT
2 PNS_00012 21 – 23 ENABLE
3 PNS_00005 9 – 14 DISABLE
3 ******** 0 – 0 ********
4 ******** 0 – 0 ********
5 ******** 0 – 0 ********
6 ******** 0 – 0 ********
7 ******** 0 – 0 ********
8 ******** 0 – 0 ********
9 ******** 0 – 0 ********
10 ******** 0 – 0 ********

[TYPE] DETAIL

❖ Program: Name of the program which contains the points to modify.

❖ Lines: Lines of the program where the point or points are located.
❖ Status: Shows the status of the current adjustment.
✓ Enable: Adjust plan active.
✓ Disable: Adjust plan idle.
✓ Edit: the adjustment has been modified but not confirmed.

Sistemas de Corte con Agua, S. de R.L. de C.V.

Circuito Circunvalación No. 146-6 Col. Cd. Satélite CP 53100
Naucalpan, Estado de México Tel/Fax: (55) 5374 0253
To create a new adjustment, position the cursor in a blank row and press F2 [DETAIL],
when pressing F2 on any other row will display the main adjust window:

PNS_00001 LINE 5
UTILITIES Prog Adj JOINT 10%
1/11
Current schedule: Status: EDIT
1 Program Name: PNS_00001
2 Starting line number: 5
3 Ending line number: 15
4 X adjustment: 6.000 mm
5 Y adjustment: 0.000 mm
6 Z adjustment: -2.500 mm
7 W adjustment: 0.000 dg
8 P adjustment: 0.000 dg
9 R adjustment: 0.000 dg
10 Motion speed: 0 mm/s
11 Joint speed: 0

[TYPE] UNITS SCHED ENABLE >

COPY CLR_ADJ CLR_ALL >

❖ UNITS: Allows to change the units of the adjustment.

❖ SCHED: switches from one adjustment plan to another.
❖ ENABLE/DISABLE: enables/disables the adjustment plan.
❖ COPY: copies an adjustment plan to another.
❖ CLR_ADJ: clears the adjustments and specified speeds (makes the adjust
permanent).
❖ CLR_ALL: makes permanent the active adjustments plans and clears all the
parameters.

Sistemas de Corte con Agua, S. de R.L. de C.V.

Circuito Circunvalación No. 146-6 Col. Cd. Satélite CP 53100
Naucalpan, Estado de México Tel/Fax: (55) 5374 0253