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Position register representation

  • Hello. In 30iB controller when I check position register, its value represented in NX,NY,NZ, OX, OY, OZ and also there is software key "Page". If I press it switches to AX, AY, AZ and LX, LY, LZ.

    I think values are shown in matrices form.

    I am wondering if anyone can help me to change back to X,Y,Z, W,P,R form.

    I guess it would be one of the variable which responsible for this.

    Thank you.

  • Yep that is the matrix form of a PR.


    You need to the $PRCARTREP to true to get the controller to not set PRs as matrix rep.


    That particular PR you would have to store to another PR and then back to get it to cart rep.

    Check out the Fanuc position converter I wrote here!

  • TYPES


    The PosRegs and NumRegs are "dynamic" types.

    In case of NumRegs they van store real or integer (byte(s)) values


    TPE converts the var type on the fly.


    PosRegs can store different Types:

    XYZWPR(EXT) , JOINTPOS and POSITION


    they are converted dynamically


    examples:

    :PR[xx]=LPOS ;

    Karel Type XYZWPR(EXT)
    TeachPendant--> [REPRE]-cartesian


    :PR[xx]=JPOS ;

    Karel Type JOINTPOS

    TeachPendant--> [REPRE]-joint


    :PR[xx]=UTOOL[yy];

    Karel Type POSITION

    TeachPendant-->no direct access


    best regards

    PnsStarter

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