How do I move by an incremental distance in the current tool frame?

ashwinmudigonda · March 28, 2018 at 12:11 AM

I have an L command

Code

L PR[8] 50mm/sec FINE INC

It's moving in the world frame. How do I get it to in the tool frame #2?

I added

Code

UTOOL_NUM=2

before the motion command and that didn't help.

HawkME · March 28, 2018 at 1:17 AM

Use a tool offset.

For example:

L PR[8] 50mm/sec FINE Tool Offset PR[9]

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ashwinmudigonda · March 28, 2018 at 4:45 PM

What is the PR[9] in this case?

Atinder Singh · March 28, 2018 at 4:56 PM

Quote from ashwinmudigonda

What is the PR[9] in this case?

He just took an example. Using the value in the position register number 9. Could be any value in any position register whatever you choose.

ashwinmudigonda · March 28, 2018 at 5:11 PM

I am still confused.

I want to move in the tool frame's Z coordinate the way I am able to jog.

What do I do have to put into the PR variable?

Isn't there a parameter in the L motion command to signify which frame to use - Base, User, or Tool?

pdl · March 28, 2018 at 6:00 PM

If you want to move in tool z:
PR[9,3]=25
L P[1] 200mm/sec, TOOL OFFSET PR[9]

ashwinmudigonda · March 28, 2018 at 6:17 PM

Thanks.

Could you clarify what the command is trying to do?

What should be in P[1]?

I am getting an "uninitialized data is used" error.

When I tried

PR[8,3] = 25
L PR[11] 50mm/sec FINE INC Tool_Offset, PR[8]

It still moves in the world frame's Z.

**Fabian Munoz** · March 28, 2018 at 6:53 PM

because you have to fill all the values on pr8 pr8,1= 0 etc etc

ashwinmudigonda · March 28, 2018 at 7:08 PM

PR[8] is completely filled in.

PR[8,1] = 0
PR[8,2] = 0
PR[8,3] = -25
PR[8,4] = 0
PR[8,5] = 0
PR[8,6] = 0

L P[1] 50mm/sec FINE Tool_Offset, PR[8]

throws an uninitialized error

HawkME · March 28, 2018 at 7:19 PM

You need to look at both P[1] and PR[8] and ensure that all data is filled out. Not just xyzwpr, but also that P[1] has a UF and UT and config string. PR[8] will just have 'F' for the UF and UT values.

Also in one post you were using INC. Do not do this. You are replacing the function of INC with the Tool Offset.

ashwinmudigonda · March 28, 2018 at 7:23 PM

I was trying to set the P[1] variable's components, but could not figure out how to. Under the REGISTER _ _ = _ _ I couldn't find an option to set a P variable.

I figured that about the INC and was going to remove it.

HawkME · March 28, 2018 at 7:31 PM

You don't set points programmatically. You just jog and touch up the point, or cursor over P[1] and press the 'position' F-key and directly enter. I would recommend jogging it close to where you want and touching up P[1] first, then modify with direct entry if needed. When you touch up it will fill out all data including the current UF and UT.

ashwinmudigonda · March 28, 2018 at 9:12 PM

But these are dynamic points, not fixed.

I have a part. I compute the a pose above the part. And from there I want to explore in the tool frame by an offset.

So I cannot teach a P[1] position.

I changed it to

PR[8,0]=0
..
PR[8,3]=-25
..
PR[8,6]=0

L PR[1] 50mm/sec FINE Tool_Offset,PR[8]

And now it goes in the tool frame, but it goes to PR[1] which is the pick point.

Nation · March 28, 2018 at 10:08 PM

This would move in tool from wherever the robot currently is.

Code

!Current Position
PR[99]=LPOS;
!Make sure the tool offset is in XYZWPR
PR[100]=LPOS;
!Zero it
PR[100]=PR[100]-PR[100]
!100 mm move in tool -Z
PR[100,3] = (-100)
L PR[99] 50mm/sec FINE Tool_Offset,PR[100]

How do I move by an incremental distance in the current tool frame?

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