Is it possible to key in the values of the Userframe in a Motoman robot?
Is it possible to "Direct Entry" a Userframe for a Motoman robot?
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HelpmeRobot -
November 9, 2014 at 11:39 AM -
Thread is marked as Resolved.
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you could create a Frame with MFRAME
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is possible by changing a parameter
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Can you please share the parameter (if it is not a paid option)
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for dx100 s2c700 = 2
to change the value of the frame :
go in the frame page
press display
press coordinates -
Is there an inform command that allows you to store a Position Variable (PVar) as a Userframe? Thank you once again!
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I usually save the position in pulse (position 15)
GETS PX015 $PX000 $PX000(actual position in pulse)
After I convert that position in frame
CNVRT PX015 PX015 UF#1 TL#1 -
Thank you Alex for replying regarding the GETS and CNVRT command.
Actually, I needed to do is the below.With prior arithmatic calculations already performed and stored in a PVar,
I need to use this stored PVar calculated result as a Usrframe, inorder to move the next taught points relative to this new frame.
Is there a way to do this? -
you can use mFrame , you need 3 positions:
Orig -> origin of the frame (p020)
xx -> x direction (p021)
xy -> direction of the xy plane , is used to make sense of the z (p022)MFRAME UF#(1) P020 P021 P022
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I guess what "HelpmeRobot" want to do is similar to me.
when I work on a 3D vision system, the userframe is generated by the camera.
After that there is no way to directly transfer the userframe value into the robot.
What I have been doing is calculating 3 points from the userframe generated by vision system.
Then feed those 3 points to the controller via Ethernet and let the robot calculate the userframe by it self again using make frame command.It would be nice if I could feed the userframe value directly.
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Would indeed be a very nice feature. Shouldn't be too difficult to add?