R-30iB Handling Tool 8.3
This worked on 8.1 and probably 8.2 (not sure).
Adding PRs a syntax error. What's wrong?
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Sergei Troizky -
June 2, 2016 at 2:42 AM -
Thread is Resolved
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Maybe not all groups in PR are initialised?
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Maybe not all groups in PR are initialised?
Don't understand what you meant by this, as PRs do not refer motion groups.Found the problem.
One of the added PRs is created by reading UFRAME and was represented in the matrix form.
Adding $PR_CARTREP=1 in the beginning of the program helped.
Btw this parameter is not anymore visible in the System Variables menu. -
Don't understand what you meant by this, as PRs do not refer motion groups.They do. On single group systems it is not visible, as every PR references group 1. On multigroup systems, each PR has a GROUP page, and what the kinematics are for that group dictate what is allowed in that group page of the PR. Another robot in group 2 and it will be cart or joint rep. A single axis postitioner? Just a joint value, or a linear value, depending on its configuration.
This is one of the reasons you can't edit PRs in background tasks, as a PR edit requires that group to be locked by the program doing the edit.
Example of POSREG.VA on a multgroup system, reduced for clarity. Group 2 is a turn table in this case.
Code[1,1] = 'Home' Group: 1 J1 = 0.000 deg J2 = -45.000 deg J3 = 0.000 deg J4 = 0.000 deg J5 = -90.000 deg J6 = 0.000 deg [2,1] = '' Group: 2 J1 = 0.000 deg -
Hi. please check the configuration of PRs. I think must be the same
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