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.
Writing current positions into PRs
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fordmanck -
February 9, 2019 at 3:10 PM -
Thread is marked as Resolved.
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Lpos stores the current Linear POSition. Then modify element 3 to adjust the z value.
PR[x] = LPOS
PR[x,3]=500Sent from my SM-G930V using Tapatalk
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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).
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