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Were are REFP stored?

  • regaleira
  • April 6, 2016 at 7:32 PM
  • Thread is Resolved
  • regaleira
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    • April 6, 2016 at 7:32 PM
    • #1

    Hi guys!
    Im quite new to Yaskawa robots,
    Working with DX200
    I created a job with R1+S2:S2 (robot + station 2 in sync) and defined 3 reference points that are displayed like so: REFP1 ST2 , REFP2 ST2, REFP3 ST2.
    The question is where are the coordinates of these points that I defined "recorded" to? somewhere in $PX......
    I know that if I create a job using only R1 (only robot motion) the reference points are displayed without the "ST2" termination and are "recorded" to $PX0011, $PX0012 and $PX0013
    :help:

    Edited once, last by regaleira (April 6, 2016 at 8:04 PM).

  • roboprof
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    • April 6, 2016 at 8:06 PM
    • #2

    Usually $PX stores position of the robot, $EX stores position of the external axis, and $BP stores position of the base axis. So... I would check to see if they would be stored in $EX011, $EX012 and $EX013. I've never seen documentation for this, but that would be my logical guess. I'll let you know if I find anything that confirms this.

  • emre
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    • April 13, 2016 at 6:11 PM
    • #3

    Hi;

    I think you could have by using PX021,22,23

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