Hello everybody,
I am newer in this field, and have problem and need help!!
I appreciate with any help!
I program robot on TP, see following.
after every loop, I checked PR(7) and PR(8) 's world X, Y and Z value. verytime PR(8) Z value is the same. that is my hoped. but actually I measure TCP point to a plate is different. it seem is that robot WORLD Coordinate System's ORIGIN ( world frame) Changed. why?
1: IF R[101]<0 OR R[101]>12,JMP LBL[2] ;
2: IF R[101]=0,JMP LBL[3] ;
3: IF R[101]=3 OR R[101]=6 OR R[101]=9,JMP LBL[4] ;
4: LBL[1] ;
5: PR[8]=PR[7] ;
6: PR[8,3]=PR[8,3]-120 ;
7: IF R[101]=0 OR R[101]=1 OR R[101]=2,JMP LBL[27] ;
8: IF R[101]=3 OR R[101]=4 OR R[101]=5,JMP LBL[28] ;
9: IF R[101]=6 OR R[101]=7 OR R[101]=8,JMP LBL[29] ;
10: IF R[101]=9 OR R[101]=10 OR R[101]=11,JMP LBL[30] ;
11: LBL[31] ;
12:L PR[8] 1800mm/sec FINE ;
13: JMP LBL[10] ;
14: CALL OPENGRIP ;
15: LBL[10] ;
16:L PR[7] 1800mm/sec FINE ;
17: R[101]=R[101]+1 ;
18: IF R[101]=12,JMP LBL[11] ;
19: LBL[12] ;
20: PR[7,2]=PR[7,2]-110 ;
21: IF R[101]=1 OR R[101]=2 OR R[101]=3,JMP LBL[20] ;
22: IF R[101]=4 OR R[101]=5 OR R[101]=6,JMP LBL[21] ;
23: IF R[101]=7 OR R[101]=8 OR R[101]=9,JMP LBL[22] ;
24: IF R[101]=10 OR R[101]=11 OR R[101]=12,JMP LBL[23] ;
25: LBL[24] ;
26: END ;
27: LBL[27] ;
28:J PR[7] 90% FINE ;
29: JMP LBL[31] ;
30: LBL[28] ;
31:J P[15] 90% CNT100 ;
32:J PR[7] 90% FINE ;
33: JMP LBL[31] ;
34: LBL[29] ;
35:J P[16] 90% CNT100 ;
36:J PR[7] 90% FINE ;
37: JMP LBL[31] ;
38: LBL[30] ;
39:J P[17] 90% CNT100 ;
40:J PR[7] 90% FINE ;
41: JMP LBL[31] ;
42: LBL[20] ;
43:J PR[2] 90% FINE ;
44: JMP LBL[24] ;
45: LBL[21] ;
46:J P[15] 90% CNT100 ;
47:J PR[2] 90% FINE ;
48: JMP LBL[24] ;
49: LBL[22] ;
50:J P[16] 90% CNT100 ;
51:J PR[2] 90% FINE ;
52: JMP LBL[24] ;
53: LBL[23] ;
54:J P[17] 90% CNT100 ;
55:J PR[2] 90% FINE ;
56: JMP LBL[24] ;
57: LBL[2] ;
58: MESSAGE[A COUNTER FAULT] ;
59: PAUSE ;
60: LBL[3] ;
61:J PR[5] 95% FINE ;
62: PR[6]=PR[5] ;
63: JMP LBL[5] ;
64: LBL[4] ;
65: PR[6,1]=PR[6,1]-120 ;
66: JMP LBL[5] ;
67: LBL[5] ;
68: PR[7]=PR[6] ;
69: JMP LBL[1] ;
70: LBL[11] ;
71: DO[107]=ON ;
72: DO[110]=ON ;
73: JMP LBL[12] ;