I am trying to place different size parts in different sized racks. I am using the teach pendant to program and I have a r2000iB. I want to program to the first "slot" in rack, place part, then use an offset to place the rest of the parts with the same approach move. Some racks are 6 slots. Some are 12 slots. But the offset is always 6 inches. I would like to know how to offset in any direction. I want to use an actual offset. I have used P[R]s but was wanting to try and write it a different way as my P[R]s are limited. Any help is greatly appreciated
Offsets to place parts on/in rack
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Leonidas -
January 17, 2017 at 6:00 AM -
Thread is marked as Resolved.
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How many PRs you have and how many are you using ? Do you know you can expand them
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How many PRs you have and how many are you using ? Do you know you can expand themDo you know what is the maximum of PR? 200?
Thank you! -
On a controller running HandlingTool v8.3, you can have up to 372 position registers. I don't have any older controllers nearby that I could check to see what they are capable of.
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You can bump up the number of PRs on Controlled start
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Thanks all.
But I'm not trying to use P[R]s. And I have plenty. I want to use a dimensional offset from one p[R]. I want to place a part, then tell the robot to place each part after at "x" distance from first part. I've seen this process run before but cant remember the instructions. -
Why wouldn't you use a PR offset, like this:
L P[1] 200mm/ s Fine Offset PR[1];
Then just change the x element of PR[1] as needed.
Offsets must refer to a PR that holds the offset dimension.
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You'll need to use PR's for offsets as previously stated. Here's a snippet of a current project for reference. I have 15 heating blocks with four loading points each. There's no way in the wide, wide world of sports am I going to teach 60+ positions, not including approach and return points. It would be 150-200 points to teach. We teach one point per block and offset from there. A PLC controls the indexing logic and relays this to the robot.
I've used PR's for the initial point (zero on each block) so that I can indirectly address them. The other three points on the block are reached by the offset loaded in to PR45.
PR45 is the offset to align to the next load point. This is what you're after I believe.
The tool offset PR's take care of approach and return. The tool offset is used to maintain eoat config and position. By modifying the individual elements of the PR offsets, I can control and modify positions and paths.
Hopefully this helps.Code
Display More22: !> Calculate Block Position ; 23: R[20:LD Block Number]=GI[10:1:Load Block Index]+20 ; 24: R[21:LD Column Index]=GI[12:0:Load Column Index] ; 25: R[22:LD Row Index]=GI[11:0:Load Row Index] ; 26: R[23:LD Lane Index]=GI[13:1:Load Lane Index]+80 ; 33: !> Set Column & Row Offset ; 34: PR[45,2:LD Offset]=R[21:LD Column Index]*(-60.32) ; 35: PR[45,3:LD Offset]=R[22:LD Row Index]*(-38.1) ; 36: ; 37: ; 38: !Load Positions Use ; 39: !Compounded Offsets ; 40: !PR[45] Determines Row/Col ; 41: !PR[40] Controls App/Ret ; 42: ; 43: !Clearance Path ; 44:L PR[R[23]] 1250mm/sec CNT100 ; 45: ; 46: IF (R[21:LD Column Index]=0) THEN ; 47: PR[38,1:LD Approach 4]=(-50) ; 48: PR[44,1:LD Return 3]=(-50) ; 49: ELSE ; 50: PR[38,1:LD Approach 4]=50 ; 51: PR[44,1:LD Return 3]=50 ; 52: ENDIF ; 53: ; 54: ; 55: !Block Load Sequence ; 56:L PR[R[20]] 2000mm/sec FINE Offset,PR[45:LD Offset] Tool_Offset,PR[38:LD Approach 4] ; 57:L PR[R[20]] 2000mm/sec FINE Offset,PR[45:LD Offset] Tool_Offset,PR[39:LD Approach 3] ; 58:L PR[R[20]] 2000mm/sec FINE Offset,PR[45:LD Offset] Tool_Offset,PR[40:LD Approach 2] ; 59:L PR[R[20]] 2000mm/sec FINE Offset,PR[45:LD Offset] Tool_Offset,PR[40:LD Approach 2] ; 60: ; 61:L PR[R[20]] 1500mm/sec CNT25 Offset,PR[45:LD Offset] Tool_Offset,PR[41:LD Approach 1] ; 62: ; 63:L PR[R[20]] 500mm/sec FINE Offset,PR[45:LD Offset] ;
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Thank you so much for your response. This is very close to what I'm talking about. I cant thank you enough. I've spent days looking for this. Since you are so knowledgeable, maybe you can help point me in the right direction in learning how to set up two robots on one controller(Teach Pendant) in RoboGuide. I understand that the second robot has to be a different group on the controller. But that is about it. I am searching for this info now but I believe I can get the answer from this board faster. This is a great resource. I hope I'm not breaking any rules by not setting up a new "topic" thread. Thanks again