I am electrician at Ford not a robot programmer.
I am trying to Offset robot position with PR
something like this
L P(x) 100mm/sFine OFFSET PR(z)
To do this I am loading values from PLC via MSG instruction directly into Registers
When Registers get loaded i have something like this
R(10)=value1
R(11)=value2
R(12)=value3
Then
PR(x,1)=R(10)
PR(x,2)=R(11)
PR(x,3)=R(12)
Values in PR(x) for w,p and r are 0. I am only trying to manipulate x,y and z.
When Robot executes line PR(x,2)=R(11) or the next line I get INTP-204 alarm.
I have tried to configure value1,2,3 as a REAL number and as DINT always the same results. Seems like i am able to load Registers just fine but can't use them to manipulate PR. When I use different set of registers and hand enter the values directly into them It works fine.
Anybody has any ideas.