I am a new user of Yaskawa robots and I am having some difficulties to create and manipulate Users Frames.
I would like to create a user frame based on some positions (VarP) that I already have. I found in the manuals that this procedure can be done with MFRAME function, but it didn't work with the test code that I did in MotoSimEG. Following I paste an example code that I use:
'COMM ROBOT NAME: HP20D
///DATE 2018/10/01 15:46
MFRAME UF#(3) P0000 P0001 P0002
MOVJ C0003 VJ = 100 PL = 0 ' move to user frame
A second question is: how can I shift and rotate a user frame?
Anyone can help me?