Can someone tell me, if i can access the position variable of the user frame from the teach pendant?
Right now, I see that position variable as BUSER in file UFRAME.CND which I get while taking the backup.
Can someone tell me, if i can access the position variable of the user frame from the teach pendant?
Right now, I see that position variable as BUSER in file UFRAME.CND which I get while taking the backup.
No direct way, but you could
-> Create a p-variable (local or global) in user frame co-ordinates.
-> Set this p-variable to 0,0,0,0,0,0
-> Use the CNVRT instruction to convert the user frame p-variable into base frame
-> Done
RoboGuru
thanks, that seems to work.
do you have any idea if I can replace the user frame position variable with a modified position variable. I intend to calibrate the user frame.
yes you can, the programming pendant has an MFRAME command (make frame)
This command needs to have 3 elements, ORG, X and Y direction
You have already captured the ORG location and have indicated that you are modifying it.
You would have to calculate the X and Y directions automatically and then use these 3 values inside your MFRAME command
Rg
you mean, after calibration of that point say P1 (which is ORG). I can add x to get say P2 and y to get p3 to P1. Then using MFRAME command, i will get a calibrated frame.
MOVJ
GETSPX020 $PX000
MOVJ
GETSPX021 $PX000
MOVJ
GETSPX022 $PX000
MFRAME UF#(1) PX020 PX021 PX022