Hi Everyone:
How to get UFRAME and UTOOL in PR [i] through TP program?
Then assigned to PR [j].
Thanks
Get UFRAME and UTOOL by TP program
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lan1301 -
December 19, 2018 at 8:22 AM -
Thread is marked as Resolved.
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Hi
When you create a TP program:
choose [INST]
Then ...=...
Then PR[] = UFRAME[] or PR[] = UTOOL[] -
Hi CPh:
Hi
When you create a TP program:
choose [INST]
I holp to read UFRAME and UTOOL from PR[6].
And then assign to PR[16].
How can I do? -
PR doesn't have UT and UF assigned. If you open PR then you can see there is F where normally should be number. At least as far as I know.
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A position register PR[j] doesn't hold frame data. This is a nice feature which allows you to move to a point with different Utools. Often when using different EOT grippers we want to place the part in front of a camera or laser. The focus location doesn't change in space however the tooling holding parts has. You can move to the same location part location with different tools and still have a part in the same location. The robot's position will not be the same but the parts will be.
A program position P[j] does store both utool[j] and uframe[j] information.