Can a "standard" position (not a position register) be offset? and what is the command to do this?
Jim
creating position offsets
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JimG -
December 8, 2014 at 9:01 PM -
Thread is marked as Resolved.
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Sure it would look like;
L P1 100% Fine
P1, 3=P1,3+100
L P1 100% FineThis would raise the robot 100mm in Z
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Sure it would look like;
L P1 100% Fine
P1, 3=P1,3+100
L P1 100% FineThis would raise the robot 100mm in Z
Can this really be done with "standard" positions? You can't use the above syntax AFAIK.
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Is IT possible to do IT without a lot of lines but only in one line as other robots? Thanks
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Please, show what you mean with "as other robots"
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yes it's possible but not with one line.
you can set the offest you want use with this instruction
PR[100]=PR[100]-PR[100] ; - Reset All the Value inside the position regiseter
PR[100,3]=100 ; - Set the value of offset on the Z directionL P[1] 2000mm/s FINE Offset, PR[100] ; - This is the instruction for move the robot on the position with the offset.
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I don't have a teach pendant on me but there is an offset codition that can be set at the top of your program.
Then when you call your line that you want to offset just say offset at the end of the line.
L P1 100% Fine offset.What are you trying to achieve with this.
If it's to pick from different layers you could have a program in your rsr that adjusts pr's for picking or putting.
This is how we do it when picking from stacked trays and when the trays are emptied then move the tray and adjust the pick and put offsets by adjusting position registers.
It's safer to do all the adjustment in a sub program otherwise if an operator runs over the line a couple of times your offset is multiplied up causing collisions that you cannot get out of without resetting the pr to it start value and multiplying up the offset value till your back to the position you should be at.
It just makes recovery of the program easier. -
yes it's possible but not with one line.you can set the offest you want use with this instruction
PR[100]=PR[100]-PR[100] ; - Reset All the Value inside the position regiseter
PR[100,3]=100 ; - Set the value of offset on the Z directionL P[1] 2000mm/s FINE Offset, PR[100] ; - This is the instruction for move the robot on the position with the offset.
Nice, I might have to use that. I usually have an always Zero PR and say PR3= PRx:Always Zero. Always re-zero after every cycle.
Then PR3,3 = PR3,3+100Your way is better since no-one can screw with it too much.