I am new to Yaskawa/Motoman. Is there a way to change User Coordinates systems within a single job. I am familiar with Fanuc and you are able to change User Coordinates(Frames) by entering UFRAME=X. I am looking for a command similar to this in Motoman any help would be appreciated.
Changing User Coordinates (Frame) within a Job
-
jamesmarkb -
May 4, 2016 at 3:02 AM -
Thread is marked as Resolved.
-
-
MFRAME
-
MFRAMEI think the MFRAME is used to create a USER frame with a specified index number. Can not switch the current User Coordination.
-
you can change the value of the active userframe but on a prallel program with MFRAME command
-
you can change the value of the active userframe but on a prallel program with MFRAME commandBut for example, I have 3 user frames in the list which I have set in the ROBOT->USER COORDINATION, if I want to switch the current user coordination, I have to calculate the ORG, XX and XY of the target coordination. I can not switch it directly. But if I know the System Variable which is used to save the current index number, whether we can change the value of this variable to switch it. I have know idea whether I can do like this.
BR!
Jonson -
if you have 3 user frames and you job is relative with user 1 then you can do the following
CALL JOB:JOB (calls and runs the job usinf user frame 1)
CALL JOB:JOB UF#2 (calls and runs the job usinf user frame 2)
CALL JOB:JOB UF#3 (calls and runs the job usinf user frame 3) -
I am new to Yaskawa/Motoman. Is there a way to change User Coordinates systems within a single job. I am familiar with Fanuc and you are able to change User Coordinates(Frames) by entering UFRAME=X. I am looking for a command similar to this in Motoman any help would be appreciated.
Unlike Fanuc, in Motoman the tool# and the frame (coordinates) are explicitly included in every position variable, no matter whether the coordinates are XYZ or pulse (Joint in Fanuc). So, you do not have to switch the tool/frame with separate instructions when executing a job.
Any position may be converted to another tool and/or frame by the CNVRT instruction. The source coordinates may be of any representation, the result will be of XYZ type. -
if you have 3 user frames and you job is relative with user 1 then you can do the following
CALL JOB:JOB (calls and runs the job usinf user frame 1)
CALL JOB:JOB UF#2 (calls and runs the job usinf user frame 2)
CALL JOB:JOB UF#3 (calls and runs the job usinf user frame 3)
OK! Thank you! A good method!BR!
Jonson -
Thanks for everyone's help. The concept I was missing is that the User Coordinate and Tool # are included in every position variable. Now it makes sense why there is no command to just switch from one User Coordinate to another within a job.
-
Hi, I'm also more used to Fanucs and now working with Motomans. I have two identical stations with some tolerance between them. If I were to transfer a program from station 1 to station 2, I would simply call the station 1 program with the appropriate user frame, eg. UF#2, right? How about all the sub programs, like torch cleaning and touch sensing? Will they all be shifted? I guess I have to call torch cleaning in UF#1? Obviously I don't want to have it shifted, but the touch sensing and all ref points need to be shifted along with other points.
Thanks!