Hello, we work for a robot and with the touch sense job. To find the pieces.
The problem is that we add a positioner and we do not know how the program is done with the touch sense job.
This is the program that we usually use with the robot only:
MOVJ C00000 VJ = 30.00
MOVJ C00001 VJ = 30.00 // P1
REFP 3 C00002
REFP 4 C00003
REFP 5 C00004
CALL JOB: R1-TCH-1
SFTON P001
MOVJ C00005 VJ = 30.00
DOUT OG # (7) 15
BUNKER
COMARCON WEV # (9) U / D = 185 L / R = -2.5
MOVL C00006 V = 7.5
MOVL C00007 V = 7.5
MOVL C00008 V = 7.5
MOVL C00009 V = 7.5
SFTOF
ARCOF
COMARCOF
TIMER T = 1.30
MOVJ C00010 VJ = 30.00 // F1
When we use that program with the positioner, the following error appears:
UNDEFINED REFERENCE POINT
(0000_0100)
JOB: R1-S1-T1 LINE 0006 STEP: 000
We also find that when doing the program with R1 + S1 we have new names in the commands:
REFP 3 ST1
REFP 4 ST1
REFP 5 ST1
SSFTON
SSFTOF
And we get the following Touch Sense Jobs:
R1-S1-T1
R1-S1-TX
R1-S1-TY
R1-S1-TZ
When we search for the piece and use the command, we do not move the positioner. We do not move it while we weld either.
Can you help us to know how the program is made?
Thank you
Camilo Nievas