User Frame R axis rollover question (new LRMate)

[jstolaruk]

Is there a system variable that will disable/enable the R axis rollover in a User Frame?

For instance, while jogging in a User Frame and watching the position readout, as R goes through +180 degrees it changes to -180 degrees (and vice versa).  I'd like the readings to continue up to the axis's limit (same as joint, +/-360)

The J6 axis on a LRMate has no mechanical restrictions (s/w only) and I'm trying to avoid some EOAT cabling wrapping up.  I can't use joint axis moves because I'm in a tight area (linear only).  I'm using IR/Vision to read the orientation of some parts in a tray I'm picking up so I can't predict how far I'll be rotating but would like to implement some kind of stop-gap checking before the controller hits the soft axis limit and faults.

I'd like to avoid some fancy tracking with registers;  I'd rather just do a LPOS and examine R to see if I've got to "unwind".  Or something as simple.

(maybe I'm not seeing the forest thru the trees  )

thanks in advance, jeff

[[fanucker]]

Hi Jeff, probably can be easier that it seems..
You're using iRVision so you can easily manage orientation. First question is:
Q1) Which is the shape of your workpiece?
Q2) Is it simmetric in order to pick it with a gripper non-related in terms of orientation?
If yes you can uncheck in Vision Process the Orient Checkbox to avoid R calculation or managing this issue reading VR.Offset not as Found Position but as Tool Offset.
As per your request, no sysvar available to do this because UFrame cannot be splitted-out of his R (or other coord). Regarding the J6 limit, all robots have sw limits on J6, not only Mate. Even checking the prediction of your vision-offsetted R, if you HAVE TO reach position with a non-free orientation (negative answer in Q2) this workaround cannot work because you have to reach dest_pos with vision offset.

Hope this help.

[jstolaruk]

Hi fanucker, thanks for the reply.

The vision apps were never the issue (it works perfectly), it was a matter of limiting the R axis without first hitting a J6 fault because it tried to go past a soft limit.  All to keep some cabling and air lines from getting damaged.

The solution was to manipulate the configuration string of a PR that is in Cartesian representation.  The configuration is something like (I'm away from the office) "NUT,0,0,0" or "FUT, 0,0,0", something like that.  IIRC, by forcing the N or F designation, the "wrapping" can be controlled;  it forces the J5 joint to only work on one side or another of the J4-J5 arm (or something to that effect).  Sorry, thats the best way I can describe it without any documentation in front of me.

Next Fanuc project I'm on, I'll make some "helper" Karel routines that allow me to get to the underlying nuts and bolts while programming in TPP.

[[fanucker]]

Hi Jstolaruk, about the issue to convert/change CONF, you can use a Karel prog in which is used the CONV_STR_CONF built-in, in order to convert 'N,U,T 000' in hello, where hello can be declared as CONFIG so a param inside a POSITION variable. This if you want to limit and force Non Flip config but I guess you can easily wrap up gripper cables even keeping N.

Btw hope this helps, if you need more infos on Karel please let me know...