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:
/JOB
'COMM ROBOT NAME: HP20D
//NAME testMFRAME
//POS
///NPOS 3,0,0,0,0,0
///TOOL 0
///POSTYPE ROBOT
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0000=1127,200,0,180,-45,0
P0001=1,0,0,0,0,0
P0002=0,1,1,0,0,0
//POS
///NPOS 1,0,0,0,0,0
///USER 3
///TOOL 0
///POSTYPE USER
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
C0003=0,0,0,0,0,0
//INST
///DATE 2018/10/01 15:46
///ATTR SC,RW,RJ
///GROUP1 RB1,BS1,ST1
NOP
MFRAME UF#(3) P0000 P0001 P0002
MOVJ C0003 VJ = 100 PL = 0 ' move to user frame
END
A second question is: how can I shift and rotate a user frame?
Anyone can help me?