We have unwanted rotation in our VR offsets. We want to offset X and Y, but not R.
If only Fanuc allowed the PR=VR, we could just PRij and remove the R.
But no, they do not. We are a tech college, and we could use some help please.
Here’s some additional info. Fanuc allows you to set the PR i, j to = 0 (so the 6th element, R can be set to zero)
for the pic position (and that’s an absolute zero, not an offset).
BUT from my experience, you cannot set a VR to a PR (or vice versa). And the only way to apply the VR offset is in a motion instruction.
Hence you have to go to the offset, then clear the R (R =0).. twist, then untwist : (
1. VISION RUN_FIND 'DICELOGIC_2018A' ;
2. VISION GET_OFFSET 'DICELOGIC_2018A' VR[1] JMP LBL[99] ;
3. L PR[55:Home] 250mm/sec FINE VOFFSET,VR[1] ;
4. PR[55,6:HOME]=0 ;
5. J PR[55:HOME] 100% CNT25