Someone could helpme on create a user frame in D+ controller?
Thanks
Someone could helpme on create a user frame in D+ controller?
Thanks
You can't make a user frame like you can on for example a motoman robot.
You can make a frame and use it to calculate positions, but you can't use it for movement of the robot.
Here's an example:
; This is how you create a frame, you need to teach 3 points for a frame, the 0, x and y. In this example you teach the left above, right above and left under, it's a frame with 16 positions, 4x4.
POINT userframe = FRAME(framep0,framepx,framepy,framep0)
; I use this frame to put 16 products in, this is how calculate the positions (the distance between 2 products)
distancex = DISTANCE(framep0,framepx)/3
distancey= DISTANCE(framep0,framepy)/3
; You need to tell the robot where to put the product with givenrow and position variables:
row = givenrow-1
column = position-1"
; Calculate the position
POINT calculated = userframe +TRANS(column*distancex ,row *distancey)
; Give the OAT angles to the calculated position from the first teached position from the frame
POINT/OAT calculated = framep0
; Put the product in the calculated position:
LMOVE calculated +TRANS(-5,5,-150)
LMOVE calculated +TRANS(-5,5,-30)
LMOVE calculated +TRANS(-1,1,-1)
OPENI
There are several ways to use a FRAME, this is just an example. Hope it helps. If you want the robot in an 'angle', use tool coordinates, it's not as handy as a userframe like on motoman but works fine once your used to it.