Hi All, is there someone that can assist me and point me into the correct direction for my application ?
I have an ARC weld robot with sensing function, that senses through the welding wire. I then grab the position using GETS and store in PosVar
Is there anyone that can assist me with how to use Mframe. Just guide me in the right direction.
I am trying to move the robot around a square metal block.
I have written Job1 program using UF#1:
Home Pos
MovL X direction
MovL Y direction
MovL -X direction
MovL -Y direction
Home Pos
However the position of the metal block square can vary/change on the table by approx 5mm in either X or Y or both directions.
How do I tell the robot that the block is now in a new position on the table, while also maintaining any torch angles as programmed in the original JOB1
I am able to use the Search function to get a get a new X (P001) and Y (P002) for the work-piece and calculate the origin(P000)
so P000 --> origin
P001 --> xx
P002 --> yy
I then use Mframe UF#1 P000 P001 P002
But when i check the program in teach, the original Job does not move at the Blocks new position?
How do I tell the robot that the block is now in a new position on the table, while also maintaining any torch angles as programmed in the original JOB1
Will any of this code have an effect on the creation of the MFRAME or doesnt it matter which I use
GETS PX001 $PX000
GETS PX001 $PX001
GETS PX001 $PX002