imove commands being disrupted if robot is paused during the imovement

[ScanRobot]

Hi Robotfellas

if the robot is stopped during a imove command (etc. with pause button or emergency circuit) and then started again,  it will restart the imove command from the beginning and therefore the movement lengh will be too far.

is there something to do to prevent this (i have made a complete palletizing program before i discovered this )?

parameter or so...?

robot: UP50 XRC 2001

thanks...

[thachief]

Move to a position variable.  Calculate new position increment with math, If pause or E-Stop during MOVJ target is still same position.

'=== Example Code ===
' P022 = your position
' D010 = temp var to hold math
' 50 = shift increment amount
GETE D010 P022 (1)
ADD D010 50
SETE P022 (1) D010
MOVJ P022 VJ=10.00

[Fabian Munoz]

ScanRobot:
You've got a really got point there. I never questioned that myself before and i used in many projects the IMOV comment.

I really like to thank you about the post because I have an upcoming job with 7 robot tending CNCs and I was going to use it.

Unless somebody from Motoman can give us a clue I will write the approach and departure just thachief mentioned which BTW a use that a lot also becuase the value is right there, in front of you and you dont have to change screen to see it

[Robo Guru]

I wrote a macro job once that would allow you to create an offset....

basically you could do something like this

MOVJ
MOVL
MADJ (X,Y,Z,Rx,Ry,Rz) 

MADJ was the name of my macro.  You could specify the amount of offset you wanted.  The macro would do exactly what "thachief" said.  It would capture the current position and then apply the requested shift.

Hope this helps
RoboGuru

[popbot]

Aha.. I think I know how this one robot will sometimes crash into the wire clipper now.
Thank you all for this post

[ScanRobot]

Thanks for all your replys

my solution was to create the below program "ABS"

when i want to make an relative movement I set one of the following values D061 - D066 to the movement lenght / or angle and then call the ABS and the movment to the point P52

etc:

SET D063 200000
CALL JOB:ABS
MOVL P052 V=1200.0 PL=0


the ABS job is:

/JOB
//NAME ABS
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE ROBOT
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0052=210.985,-1204.325,598.571,90.79,60.12,-89.41
//INST
///DATE 2010/08/17 06:44
///ATTR SC,RW
///GROUP1 RB1
NOP
GETS PX050 $PX000
GETS PX051 $PX000
CNVRT PX052 PX051 BF
GETE D051 P052 (1)
GETE D052 P052 (2)
GETE D053 P052 (3)
GETE D054 P052 (4)
GETE D055 P052 (5)
GETE D056 P052 (6)
ADD D051 D061
ADD D052 D062
ADD D053 D063
ADD D054 D064
ADD D055 D065
ADD D056 D066
SETE P052 (1) D051
SETE P052 (2) D052
SETE P052 (3) D053
SETE P052 (4) D054
SETE P052 (5) D055
SETE P052 (6) D056
SET D061 0
SET D062 0
SET D063 0
SET D064 0
SET D065 0
SET D066 0
END

[potis]

just fyi instead of using the cnvrt instruction you can use the
gets PX052 $PX001   
this way the P52 position is saved in base frame and you dont need to make convrt after.

best regards