Offset position

    Hi new to Motoman and have a YRC1000/GP35L and my question is if I have a saved position in base mode is there a way to deviate from that position in the tool 0 direction with code. I know I can go to the saved position and imov but I want to pre calculate the position with a offset of the tool direction. I have tryed alot of code to do this but can't get it to do what I want. I am very familiar with Denso robots and you can just do a devh. Thanks in advance.:smiling_face:

    SFTON Pxxx TF

    where Pxxx is a variable in which you put your correction

    TF: a flag that indicates to do a shift in tool direction

    You need a Tool well calibrated and SFTOF at the end of your move to stop your shift

    Example

    SFTON P001 TF

    MOVL..

    MOVL..

    MOVL..

    SFTOF

    All the moves inside SFTON ...SFTOF will be shifted

    In FANUC, you specify offsets as a modifier to the motion, e.g.:

    MOVL PR[123] OFFSET PR[973]

    This is super handy, since if you move around in the pendant logic, your offset is applied without first having run an 'apply offset' command.

    Is there a similar way in Motoman?

    In a program with SFTON, do commands executed between SFTON and SFTOF apply the shift if the operator skips the SFTON line? That's what I want to avoid...

    Simly answer: NO. You must apply it at least one time

    The "shifting effect" will be cancelled if you edit the job, restart from an alarm and turn off the controller.

    With special parameter( as far I know it involves a FD parameter that must be purchased) it will stay activated even in teach mode if you move around the program(not sure if you go outside the program in other menu, I have to check).

    P.S.

    All the info that I have refers to DX100 or DX200, maybe newer controller or newer software version could have other options.

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