user coordinate

[h.esk60]

i have a c controller with fs006n-b robot
i want to define new work object .

how can i do this work?
I study manual but it said we must have a option in aux 49 but i don't have this option.
it means i can't define new work object??
i know i must use point ic1=frame(ic2,ic3,ic4,ic2)  but i can't introduce for example work 1.

please help me.

[HWK0329]

You are on the right track.

I never used Function49 to do this.

SETUP PROGRAM
POINT ic1=frame(ic2,ic3,ic4,ic2)

POINT new.part.frame = ic1

now in AS Programming you need to do...

JMOVE new.part.frame+location_via1
JMOVE new.part.frame+location_via2
JMOVE new.part.frame+location_via3

At end of program make sure to zero out offsets and put frame back to nominal.

Hope this helped and is what you were looking for.

[h.esk60]

Thanks for replay

before your reply I wrote this program as blow:

ic1 888.023926 124.016747 -312.802856 -38.917469 179.709381 -129.267029
ic2 888.023926 124.016747 -312.802856 160.325119 179.995804 -176.445114
ic3 889.113403 -54.739849 -312.228943 164.670761 179.995285 -172.099564
ic4 708.238647 122.354851 -313.507111 170.491257 179.993164 -166.279953
POINT ic1= FRAME(ic2,ic3,ic4,ic2)
LMOVE ic1
LMOVE ic1+TRANS(100,0,0,0,0,0)


I don't know what are these( new.part.frame in POINT new.part.frame = ic1  & location_via1 in JMOVE new.part.frame+location_via1) instructions.
I want shift one point in work object .
Can you more explain about this instruction and  write simple program for me ?
Thanks

[HWK0329]

.PROGRAM frame_setup()#0
;USE THIS PROGRAM TO TEACH THE FRAME
;
  LMOVE ic2.org
  LMOVE ic3.x
  LMOVE ic4.y
;
  POINT ic1 = FRAME(ic2.org,ic3.x,ic4.y,ic2.org)
;
  POINT shifted.frame = ic1
.END


Now how ever you plan on shifting frame do as below.

    POINT shifted.frame = ic1+TRANS(100,0,0,0,0,0)

Now in your program that will be running with robot movements

.PROGRAM testrun()#0

JMOVE shifted.frame+move1_via
LMOVE shifted.frame+move2_via
LMOVE shifted.frame+move3_Pre_Pick
LMOVE shifted.frame+move4_Pickup

;"end of program this code just resets your frame to nominal "
    POINT shifted.frame = ic1

.END

These are the trans data that is global to the programs.

.TRANS
ic2.org 352.014709 1916.483154 336.705078 79.762688 136.813522 84.857033
ic3.x 854.208923 1914.764893 338.533264 79.761749 136.814240 84.856445
ic4.y 353.408478 2416.375000 345.693176 79.763809 136.813751 84.857765

move1_via 352.014709 1916.483154 336.705078 -101.640457 1.051094 101.446297
move2_via 352.014709 1916.483154 336.705078 -101.640457 1.051094 101.446297
move3_Pre_Pick 352.014709 1916.483154 336.705078 -101.640457 1.051094 101.446297
move4_Pickup 352.014709 1916.483154 336.705078 -101.640457 1.051094 101.446297
END

Hope this helped its been along time and this is a great refresher for myself.

[Akbari]

Hi HWK0329

I'm new in kawasaki robots forum .I want to learning about kawasaki .
I wrote and tested this program but one error appear in line 1 (JMOVE shifted.frame+move1_via )when running the program.
this error as below :
ERROR CODE 857 Destination is out of range .

Thanks for example

[HWK0329]

Elecomp

Those are just number I put in. You will need to teach/record your own points and try it.

[Akbari]

I know .
I teach all of the point by jogging.
I think the frame difinition dosen't true .
Is there anythings in FRAME instruction ?
Thanks

[h.esk60]

Dear HWK0329
hi,
Many thanks for your favor.
about your example i should write two separate program or i can write all of them in one program ?

thanks and best regards

[h.esk60]

Dear friend
i check this program and it is OK for x,y,z but when i change the orientation rx , ry ,rz
the position is not OK    POINT shifted.frame = ic1+TRANS(0,0,0,rx,ry,rz)
please help me?


Many thanks and best regard

[h.esk60]

Hi to All
There is no any one in Kawasaki forum ?

Please help