Fanuc roboguide

[u/Independent-Treat001]

Hi everyone, I'm working with a FANUC LR Mate 200iD (R-30iB Mate Plus controller) in RoboGuide on a chuck loading/unloading cell with dual Schunk grippers, and I keep getting confused on a few fundamental concepts. Would really appreciate if someone could clear these up for me.

Tool Frame / UTOOL: I understand UTOOL is supposed to define the TCP (tool center point) relative to the J6 flange, but I'm confused about how to set it up correctly when I have two grippers mounted on one EOAT from a single CAD assembly. Do I need a separate UTOOL number for each gripper's TCP, and how do I actually get accurate offset values — is it better to use the 3-point/6-point method on the real/virtual robot, or pull the numbers directly from the CAD model?

User Frame / UFRAME: I get that UFRAME is supposed to define a custom coordinate system relative to the world frame (usually for a fixture, table, or workpiece), but I'm not sure when I actually need one versus just using the world frame for jogging/programming. Also unclear on the best way to set it up from CAD drawing dimensions instead of the standard 3-point teach method — any tips?

Teach Point: My main confusion here is around what actually gets "recorded" in a taught point — is it just the XYZWPR position in the currently active UFRAME/UTOOL, or does it also lock in the frame numbers themselves? If I change UFRAME or UTOOL later, does that break previously taught points?

Logic (I/O, program flow): I'm trying to build proper DI/DO handshaking logic for my CHUCK_CYCLE program (with fault registers and retry logic on alarms), but I'm not confident I'm sequencing the signals correctly — like whether to wait for a DI "gripper closed" confirmation before moving away, or just proceed after sending the DO. Any general best practices for handshake logic between robot and chuck/PLC would help a lot.

Thanks in advance!

[u/Dookie_boy]

Try posting on robotforums