January 18, 2019, 04:36:32 AM
Robotforum | Industrial Robots Community

  Unlucky line 52 - Changing the position of the robot


Author Topic:   Unlucky line 52 - Changing the position of the robot  (Read 435 times)

0 Members and 1 Guest are viewing this topic.

November 19, 2018, 12:32:11 PM
Read 435 times
Offline

Dawid Firlej


Hello,

I have a problem with changing the saved position of the robot. Namely, during the work the robot travel to the P10 offset, which is stored in the 52 program line as (gives only an example) LAPPRO SHIFT (hol_r [ptin.rt_nr.ist] BY pt.k_h_x_r [ptin.rt_nr.ist], pt.k_h_y_r [ptin.rt_nr.ist], pt.k_h_z_r [ptin.rt_nr.ist]), and I would like to move this possition a few cm to the right.
So I'm doing the following steps
- I'm getting a robot to this position
- I click MOD / POS
- I change the robot's position
- I click Record
- I'm leaving MOD / POS

by following the above steps on the techpendant screen I receive information that line 52 has been overwritten.
In fact, line 52 has not changed at all and the robot is still reaching position P10.

I am asking you to more experienced colleagues for help in changing positions from line 52

Thank you in advance for your help
(Written with a google translator)

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=29658.0
  • Like    Thanks

Today at 04:36:32 AM
Reply #1

Advertisement

Guest

November 19, 2018, 03:09:42 PM
Reply #1
Offline

Kawaguy


POS.MOD can modify the location variable in a line like:
   JMOVE #pos1  (#pos1 is modified to current position)
or
   JAPPRO pos1,100  (pos1 is modified to current position + 100mm in tool-z direction)

It cannot modify a position in a calculated step with SHIFT-instruction like
   JMOVE SHIFT(pos1 BY row * rowdist, col * coldist)

Also make sure you are not editting the program where you change a position. You get an unreadable message in information section of your teachpendant (Only see a '.' dot).
  • Like    Thanks

November 19, 2018, 11:28:53 PM
Reply #2
Offline

kwakisaki

Global Moderator
As Kawaguy stated, you can only POS MOD when your position step contains a move directly to a location reference,either Joint Displacement or a Transformation Value that is stored in the locations table (List/l).
- Therefore a 'calculated' step such as SHIFT/TRANS etc, is using real numbers for the each component of the transformation value, therefore the real number will required to be adjusted instead which the POS MOD button is not functioned for.
- By your command (a pun for those Battlestar Galactica Fans).....you are using real numbers in arrays, so to adjust these, you will have to adjust the real number instead.

Programmers often use this technique to prevent adjustments via the POS MOD button, but may include these variables on an IF Page for you to adjust that way.
It's a very subtle way of 'disabling' the POS MOD Button, but can introduce issues when you just want to 'change a location in X,Y,Z.
- Therefore, you would need to adjust the real number of the array element required.
- Have a look through the IF Pages, there maybe adjust areas there to input new X,Y,Z offsets.
  • Like    Thanks

November 20, 2018, 12:23:04 PM
Reply #3
Offline

Dawid Firlej


Thank You Guys for help.

Unfortunately I do not have XYZ coordinates on IF. I would like to put them there myself. Does any of you have programming manual for Interface Panel?

Best regrads,
Dawid Firlej
  • Like    Thanks

November 20, 2018, 12:41:32 PM
Reply #4
Offline

Alexandru


Hello,

You can find how to set buttons on the Interface Panel in the operation manual. Can you send the backup from the robot?
  • Like    Thanks

November 21, 2018, 11:52:16 AM
Reply #5
Offline

Dawid Firlej


The program is written by Swiss programmers and it seems to me that it is written in a chaotic way.

I solved my problem by inserting a real number directly in the Shift instruction. In any case, I want to learn how to place different variables on the IF panel and find out what the entry is for example,
Quote
5,4,1, "Tasma prawoff on", "off on", "", "", 10,0,4, 2094,2095,0
  • Like    Thanks

November 21, 2018, 12:04:18 PM
Reply #6
Offline

Alexandru


Do you have the operation manual? You have the variables on IF page number 3.  Press A + Down Arrow to change the IF pages or press the Param. button in order to go to IF page number 3 according to the backup :)
« Last Edit: November 21, 2018, 12:18:54 PM by Alexandru »
  • Like    Thanks

Today at 04:36:32 AM
Reply #7

Advertisement

Guest


Share via facebook Share via linkedin Share via pinterest Share via reddit Share via twitter

xx
Robot loosing position when changing speed

Started by ScottBatJT on KUKA Robot Forum

1 Replies
1337 Views
Last post February 10, 2015, 10:24:56 PM
by fluke
xx
ABB robot IRC 5 changing base frame without changing the program

Started by jpp18209 on ABB Robot Forum

3 Replies
472 Views
Last post July 18, 2018, 03:14:47 PM
by SharplesR
xx
Position Registers Changing

Started by MechE on Fanuc Robot Forum

7 Replies
435 Views
Last post September 05, 2018, 05:10:51 PM
by pdl
xx
Changing configuration changes point position

Started by ownagebyh4x on ABB Robot Forum

4 Replies
634 Views
Last post March 26, 2018, 06:50:00 PM
by ownagebyh4x