Hello:
Newbie question:
Fanuc 30iB Mate Plus Controller with a 6-axis 200iD
I have setup a user frame, and wish to travel to a different point in X each time the program is ran. I also want to give the user the ability to specify a dynamic Z position. During these dynamic moves, I want to keep axis 4,5 idle. However, I am wanting to rotate the axis 6 similar to a spindle.
I setup a PR[] for my dynamic offsets and performed Wjnt moves. The Wjnt move was the only way I could figure to get Axis 6 to rotate as a spindle.
However, when I set non-zero offsets into my PR[], my axis 4.5 move as well.
Looking at the positions in the joint vs. user frame, it seems like my PR[] offset is specified in joint, not user.
Here is the code snippet (be easy, it's my first program):
UFRAME_NUM=1
UTOOL_NUM=1
PR[1,1] = R[1]
PR[1,2] = 0
PR[1,3] = 0
PR[1,4] = 0
PR[1,5] = 0
PR[1,6] = 0
PR[2,1] = 0
PR[2,2] = 0
PR[2,3] = R[2]
PR[2,4] = 0
PR[2,5] = 0
PR[2,6] = 0
L P[1] 100mm/sec FINE Wjnt Offset,PR[1]
L P[2] 100mm/sec FINE Wjnt Offset,PR[2]
Essentially, I want to keep my W,R,P position constant while moving to dynamic X and Z positions while rotating axis 6 in joint mode.
Thanks for the help!