Offset

Hi
Fanuc's use similar instructions, you use a modifier following the motion command.
L P[1] Offset PR[10]
You store the offset vector in PR[10]
You can also use tooloffset if you need to offset a position in tool frame

You would have to make a sub-program to set all the components of a PR on one line.

Something like this:

/PROG SET_PR
/APPL
/MN
  : PR[99]=LPOS ;
  : PR[99,1]=AR[1] ;
  : PR[99,2]=AR[2] ;
  : PR[99,3]=AR[3] ;
  : PR[99,4]=AR[4] ;
  : PR[99,5]=AR[5] ;
  : PR[99,6]=AR[6] ;
/POS
/END

Then you would call it at the top of your program, like so:

Also, I would recommend using the OFFSET command if you are going to set a bunch of moves to the same offset.

: CALL SET_PR(0,0,10,0,0,0) ;
   : OFFSET CONDITION PR[99] ;
   :L P[1] 1000mm/sec CNT100 Offset ;
   :L P[2] 1000mm/sec CNT100 Offset ;
   :L P[3] 1000mm/sec CNT100 Offset ;
   :L P[4] 1000mm/sec CNT100 Offset ;
   :L P[5] 1000mm/sec CNT100 Offset ;
   :L P[6] 1000mm/sec CNT100 Offset ;

I like the use of LPOS to set the coord rep. You can also send 1 more argument to set the PR #.

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