Numbering motions points with registers?

    Hello everyone,


    Is it somehow possible to number motion points using registers? On Kuka robots I've done this using a trigger and when the motion point was reached, a step counter was then updated. I can easily say R[1]=1 after the point but I'm worried with the robot reading 3 lines ahead that the registers will have the wrong values for shorter motions.


    I need to create a program that returns the robot to Home position regardless of where the robot is. To do this I need to number each point so that the robot knows where it is and will either go forwards or backwards in the program, depending on gripper status, to Home position. I need to find a way to do this so that the register numbers only update when the position coordinated have been reached and motions should be continuous.


    Any ideas on how to do this? :wallbash:

    Is it possible to use FINE moves. Im assuming you are using CNT. I've modularlize code so after a certain task then increment the register. Ive use this in auto collision recovery so it knows where to go back into a place point based on the register count.

    No as that will affect cycle time and the movements will be jerky. The only FINE point will be pick/drop positions. Movements have to be CNT. This program is exactly for error recovery and getting robot back to Home position for new cycle.

    The register will update too soon when you use CNT movements. I had to build a program which was called with distance before 0 mm or time before 0 sec. You can use an AR[] to write the value in the register, which is used in the called program.


    This improved the updating of the register a lot, but it is still not perfect.

    Instead of using a register, use the robots location.
    Use LPOS then break down the location. X, Y, Z. You know how to retreat from each location so when X = this value the robot must not Z up until X is this value. So then you move X to a safe location to move Z then run it home.

    Quote from Racermike123


    Instead of using a register, use the robots location.
    Use LPOS then break down the location. X, Y, Z. You know how to retreat from each location so when X = this value the robot must not Z up until X is this value. So then you move X to a safe location to move Z then run it home.


    That is exactly the way I do it. This is the safest way as well because if an operator manually jogs the robot from its location during a faulted stated then the register method is completely useless and can cause damage to equipment.


    (Never trust operators to following directions)


    Here is a quick example of the LPOS method for just the Z coordinate.


    1: UFRAME_NUM=2 ;
    2: UTOOL_NUM=2 ;
    3: ;
    4: PR[3:MOVE SAFE]=LPOS ;
    5: ;
    6:L PR[3:MOVE SAFE] 100mm/sec FINE ;
    7: ;
    8: R[190:MOVESAFE Z]=PR[3,3:MOVE SAFE] ;
    9: ;
    10: IF R[190:MOVESAFE Z]>(-590),JMP LBL[1] ;

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