Hi,
Looking to export the reference position data with comments from roboguide.
What file holds this?
Also is there anything else in that file that would be a bad idea to load into a robot?
R-30ib compact plus controller.
Thanks
Hi,
Looking to export the reference position data with comments from roboguide.
What file holds this?
Also is there anything else in that file that would be a bad idea to load into a robot?
R-30ib compact plus controller.
Thanks
If you're talking about PR's, that would be POSREG. That will load all PR's and related comments.
Thanks but got those covered. looking for Reference Position data specifically.
Unfortunately Reference Positions are in the the main system variables file. Sysvars.sv (human readable in system.va). This include tons of different variables that I do not think would be a good idea to load willy-nilly onto a different robot.
If you enjoy programming in a higher level language you could read and write these variables directly.
They are held in $REFPOS1[n], where the value in the square brackets 'n' is the reference position #.
If you are always setting the same exact values, then you can actually write to the variables in a TP program. But if you need to be able to export and import from any robot it would require higher-level programming.
Ahh, I thought that may be the case and see them now way down in the system variable list.
Thanks for the insight and other suggestions.
I use a .cm file to setup reference positions for touch up on new installs.
! Setup reference positions
KCL SET VAR $REFPOS1[1].$COMMENT = 'Home'
SETVAR $REFPOS1[1].$HOMEPOS 1
! Perch tolerance is in radians.
! Set to 1 deg.
SETVAR $REFPOS1[1].$PERCHTOL[1] 0.01745329
SETVAR $REFPOS1[1].$PERCHTOL[2] 0.01745329
SETVAR $REFPOS1[1].$PERCHTOL[3] 0.01745329
SETVAR $REFPOS1[1].$PERCHTOL[4] 0.01745329
SETVAR $REFPOS1[1].$PERCHTOL[5] 0.01745329
SETVAR $REFPOS1[1].$PERCHTOL[6] 0.01745329
KCL SET VAR $REFPOS1[2].$COMMENT = 'Service'
SETVAR $REFPOS1[2].$DOUT_INDX 51
SETVAR $REFPOS1[2].$ENABLED 1
SETVAR $REFPOS1[2].$PERCHTOL[1] 0.01745329
SETVAR $REFPOS1[2].$PERCHTOL[2] 0.01745329
SETVAR $REFPOS1[2].$PERCHTOL[3] 0.01745329
SETVAR $REFPOS1[2].$PERCHTOL[4] 0.01745329
SETVAR $REFPOS1[2].$PERCHTOL[5] 0.01745329
SETVAR $REFPOS1[2].$PERCHTOL[6] 0.01745329
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