April 24, 2019, 10:28:58 PM
Robotforum | Industrial Robots Community

 Writing current positions into PRs

Author Topic:  Writing current positions into PRs  (Read 327 times)

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February 09, 2019, 02:10:57 PM
Read 327 times
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fordmanck


Hey all, first post and very new to the robot world. I have a question that hopefully is a simple solution to the seasoned robot programmers. What I'm trying to do is only have the Z axis move to a point that I command, but not to move the X or Y. Is there a way to write the current X and Y position into the PR before the move command? For a little more reference the previous programmer, that's not longer with the company, wrote a routine to auto recover from a fault. When it does this depending on where the robot is, it hits the product and causes a downstream issue. If we were able to just move the Z on the first move while keeping the X and Y the same, this would eliminate our issue. I know that we obviously need to fix the faults, but that's a bit more complex fix and this would help us in the interim. Thanks in advance, Chris.

Today at 10:28:58 PM
Reply #1

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February 09, 2019, 02:15:38 PM
Reply #1
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HawkME


Lpos stores the current Linear POSition. Then modify element 3 to adjust the z value.

PR
  • = LPOS

PR[x,3]=500

Sent from my SM-G930V using Tapatalk


February 09, 2019, 03:04:03 PM
Reply #2
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fordmanck


Thank you so much. We greatly appreciate it!

February 15, 2019, 06:41:19 PM
Reply #3
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tacheson


I like Hawke's answer, but I'd add something to it.

PR[X]=LPOS
PR[X,3]=PR[X,3]+(Desired distance)

This is just incase your LPOS position is above the hard-coded value.  You don't want to move down.

Then, depending on how you want to move away from it, use it as a tool offset or a PR offset(user frame).

Tyler
www.acieta.com


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