LBP?

[popbot]

I have many questions,lets start with this..    

MOVL LP001 LBP000 V=LI000  +MOVJ LEX001

Can someone please break this down and explain it to me.

[95devils]

Starting out the job has a robot, a base axis, and an external axis.


MOVL = Move linearly from where the hardware currently is to the position recorded in local Position variable 001.  This will be calculated based on the tool recorded in LP001.

While the robot is moving from A to B, the base axis is also moving from where it currently is to the position in local base position 000.

The velocity for these moves will be whatever is in the contents box of Integer 000.  This is in millimeters per second.  One decimal point resolution.

As the robot and the base is moving, the external axis is also moving from where it is to the position recorded in external position local variable 001.

Everybody has to arrive at the same time.

The local position variables have to be assigned in the job header in expanded language.  The variable doesn't does exist until you do a select job or the controller opens the job.  

Generally, you set the values of the local to some value.  When the job is opened, they are initialized to 0.


Type faster Tony.

Gotcha again.

[popbot]

Thanks devil.
I'm not used to seeing a base involved. I thought i was seeing a new BP var. I see now it's local,base,position.

What can you tell me about the MSG comand.  I cant find any mention of it in my materials.

[95devils]

The MSG allows a string of text to show up on the message line (down where e-stop and errors show up).

The text can be anything you want to display.  Love this instruction, used to do this with I/O messages.  Now it's not I/O related it is program sequence related.

The text will remain until another MSG instruction with text overwrites the previous text or a MSG with nothing for text is executed.

[popbot]

Ha Ha,  looks like I can have some fun with that one.

I have this program that has a group set of GROUP1 RB2,BS2 and GROUP2 ST1. It also has lines referring to the base axis in the program. Now I have not seen more than one group in a job before.  My cell has no base axis. Could this be the reason I get a syntax error when I try to load it.

[Robo Guru]

IF you have no base axis and the job header you are loading refers to a base axis then yes, i would guess that is why you are getting syntax errors.

You can not load a job if that option is not installed in your robot.  I see this frequently when someone takes a job from robot A and loads it into robot B.  Robot A might have had a software option installed that robot B does not.

RoboGuru

[popbot]

Can anyone tell me how to turn on the Control Group Advanced feature?

[popbot]

Am I going to need a different macro touch job for every control group I am likely to use?

[popbot]

OK,    We paid for macro job function when the robot was new. Also, Motoman gave me this macro touch job.

 Macro job is sort of new to me and i would like to dissect this job. This will be more easy to do if I could load this job into the robot. When I try to load it I get a syntax error. If I delete even one line in this job the robot will not even see the job at all on my cf. I find this to be strange.

I would really like some help on this.

[Robo Guru]

When the robot displays a syntax error, it usually indicates the line # of which this occured on.  When looking at the job in windows notepad, the line # starts from the NOP instruction.  Count the # of lines and let us know what the insruction is any maybe we can help you out some more.

Synax errors can occur if you try to load a job that requries a feature you don't have enabled on your robot.

RoboGuru

[popbot]

Thanks Guru,
looks like it's the first move instruction giving me the error. It has a pvar for a base axis(I have no base axis).

Can someone send me a macro touch job with a group set of R1+S1:S1, or just R1+S1?

I kinda thought this would be one all knowing job for all kinds of weld cells.

[tony gast]

Look at the end of this manual......

[popbot]

Here are parts of the job I have. dose someone have something like this?


/JOB
//NAME SR1-TCH1
//POS
///NPOS 0,0,0,0,0,0
//INST
///DATE 2009/09/16 12:48
///COMM Touch macro
///ATTR SC,RW,MC
///GROUP1 RB1,BS1
///GROUP2 ST1
///LVARS 12,13,16,16,0,11,12,11
NOP
'------------------
'--- NX -----------
'- veer.4.4 --------
'- MINC ASG -------
'- 14SEPT09 -------
'------------------
GETS LPX000 $PX000
SET LEX001 LEX000
SET LEX002 LEX000
'
' Initialize variables
'################################
'
' Set Robot Number
SET LI008 1
'
' Rapid Input number
SET LI004 1
'
' non search speed
SET LI000 3000
'
' userframe number
SET LB007 0

...

' Calculating offset for touch 3
' Cross product of offset 1
'   vector and touch 1 vector
'
' Copying contents
SET LP007 LP001
SET LP002 LP008
' Calculating touch 1 vector
'   and unitizing
SUB LP002 LP001
SET LP004 LP002
SET LB000 2
JUMP *UNITVECT
*2
' Calculating vector of offset
'     from touch 2
SUB LP006 LP001
SET LP005 LP006
'
' Finding cross product of
'     offset 1 and touch 1
SET LB000 3
JUMP *CROSPROD
*3
' Unitizing cross product vector
SET LB000 4
JUMP *UNITVECT

...

MSG ""
' Copy start, ref 1, and ref 2
JUMP *SAME IF LB011=1
GETS LPX003 $PX000
CNVRT LPX003 LPX003 BF
SET LBP002 LBP003
*SAME
SET LP008 LP000
SET LP006 LP000
SET LP007 LP000
SET LP009 LP001
SET LP003 LP002
' Finding vectors between points
SUB LP003 LP008
SUB LP009 LP008
' Projecting ref 2 on to start
SET LP004 LP003
SET LP005 LP009
SET LB000 7
JUMP *PROJECT
*7
' Finding vector parallel to
'   the surface
SUB LP003 LP004
ADD LP006 LP003
SET LB000 8
JUMP *UNITVECT
*8
' Creating offset vector

[tony gast]

popbot
How about changing the job extension from .jbi to .txt and post the entire macro..... i would like to dissect also
are there any arguments set what are they for? the cut out of the job really doesn't give enough info.....
other than this job is for a robot with a base axis.....who ever gave the job to you may not have ever realized that and might send you the one you need if you ask again..........

[popbot]

Check this out, looks like a awesome program.