Hi guys,
My robot is KRC4 8.3.17. I want to change the A6's logical zero. I knew that the varlible $mames defines the difference between the logical and physical zero of an axis.
So I changed the $mames[6] to 60,but it can't work. Could someone help how to make it work or explain the varlible .Thanks a lot
How to use the $mames?
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rain_maker -
October 29, 2016 at 6:40 PM -
Thread is marked as Resolved.
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I'm not entirely certain it's possible to change the $MAMES value for A1-A6. I would recommend making the change, then cold-booting the robot with "Reload Files" selected, then check to see if the changes were still present. The system may overwrite user-made changes to these values.
However, if you do change the $MAMES successfully, the change won't take effect until after you un-Master and Master the axis.
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I've used mames[7] successfully on a dual robot linear track with two mastering posts so I could swap pts between them. Worked well. Didn't try changing values for 1 - 6.
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...I want to change the A6's logical zero.Why?
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The robot path have complited but The gripper on the flange has to rotated 60. if you have any suggesion about it ,please help me
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Why?
The robot path have complited but The gripper on the flange has to rotated 60. if you have any suggesion about it ,please help me -
Have you tried using Edit -> Marked Region -> Transform Axis Specific to shift your program? Never used it myself so I'am not totally sure it works. But for cartesian shifts I would use the corresponding cartesian feature.
Fubini
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If this is simply an issue where LIN moves have "wound up" A6 at the end of a path, you can resolve it by programming an unambiguous E6AXIS position that forces A6 back to a good starting position.
If you want to adjust A6's $MAMES value from inside a program, that cannot be done.
Are you using A6 in Endless mode?
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Have you tried using Edit -> Marked Region -> Transform Axis Specific to shift your program? Never used it myself so I'am not totally sure it works. But for cartesian shifts I would use the corresponding cartesian feature.Fubini
Maybe it is a good idea,thank you