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Writing current positions into PRs

  • fordmanck
  • February 9, 2019 at 3:10 PM
  • Thread is Resolved
  • fordmanck
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    • February 9, 2019 at 3:10 PM
    • #1

    Hey all, first post and very new to the robot world. I have a question that hopefully is a simple solution to the seasoned robot programmers. What I'm trying to do is only have the Z axis move to a point that I command, but not to move the X or Y. Is there a way to write the current X and Y position into the PR before the move command? For a little more reference the previous programmer, that's not longer with the company, wrote a routine to auto recover from a fault. When it does this depending on where the robot is, it hits the product and causes a downstream issue. If we were able to just move the Z on the first move while keeping the X and Y the same, this would eliminate our issue. I know that we obviously need to fix the faults, but that's a bit more complex fix and this would help us in the interim. Thanks in advance, Chris.

  • HawkME
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    • February 9, 2019 at 3:15 PM
    • #2

    Lpos stores the current Linear POSition. Then modify element 3 to adjust the z value.

    PR[x] = LPOS
    PR[x,3]=500

    Sent from my SM-G930V using Tapatalk

  • fordmanck
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    • February 9, 2019 at 4:04 PM
    • #3

    Thank you so much. We greatly appreciate it!

  • tacheson
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    • February 15, 2019 at 7:41 PM
    • #4

    I like Hawke's answer, but I'd add something to it.

    PR[X]=LPOS
    PR[X,3]=PR[X,3]+(Desired distance)

    This is just incase your LPOS position is above the hard-coded value. You don't want to move down.

    Then, depending on how you want to move away from it, use it as a tool offset or a PR offset(user frame).

    Tylerhttp://www.acieta.com

    Tyler<br />http://www.acieta.com

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