R[ ]=PR[2,1] help

[bnhnt]

R[  ]=PR[2,1]

2 is the number of the register and 1 is for axis x
so if I want Y it is PR[2,2]
and if I want z I write 3
1.   Is this how it works
2.   Does  4,5,6 also work
Can I get a little more explanation about this
Thanks,

[freemanleon]

1,  2,  3,  4,   5,  6
X , Y , Z , W , P , R 
Position   Attitude

[Robotter]

Be Careful on how your position register is configured. It could be either joint values or cartesian coordinates.

PR[1,1] = X or J1 value of PR[1]
PR[1,2] = Y or J2
PR[1,3] = Z or J3
PR[1,4] = W or J4
PR[1,5] = P or J5
PR[1,6] = R or J6

[bnhnt]

Ill start with a thank you Robotter!
Ive been playing with the circle programs and trying to make it work in different ways, I don’t get enough time to play with PR but it looks like it would be a wonderful tool once I have a full understanding of them,
Ok so how do I know how my PR is configured?

[Robotter]

2 ways.

One is you can go to Data->Position registers and see the position details of a particular PR.

If you need cartesian coordinates then you could have XYZWPR

You can change it to joint coordinates by pressing F5 and selecting Joint.

Alternately if you execute the following instructions from a TP program you could get the joint / Cartesian values in the PR.

PR[1] = Lpos (for recording the current cartesian coordinates into PR[1])
PR[1] = Jpos (for recording the current Joint coordinates into PR[1])

Try it out. its actually quite simple

[bnhnt]

Wow thank you! I was playing with the lpos,
But now I have a good explanation about it.
Thanks again