Passing coord from UF to PR

**Fabian Munoz** · April 27, 2020 at 4:35 PM

Hi

All the robots are 3 month old , SR-3iA

I have two scara robots that when I do PR[5]=UF[2] and I look at the position the number don't match and the coord are changed

Something like , on the user I have 192.354 -89.25 36.1 0 0 89.7,

the result on the PR is something like -0.007 0.001 0.4 0 0 .004 and on top of that the coords are shown NX, NY, etc instead of X,Y.....

I tried clearing the PR, that works, i get X,Y.... and zeroes but then changes when i load the user

I have another two scaras, different cells (brand new), I did the copy and works fine

Why works on two robots and does not on the other ?

Doctor_C · April 27, 2020 at 4:53 PM

I am guessing this variable is set in the ones that work. I have found that the newer robots don't like it set permanently.

$PR_CARTREP =1 will make the PR be copied in Cartesian.

So i just do it in my program

$PR_CARTREP = 1

PR[5] = UF[2]

$PR_CARTREP=0

PnsStarter · April 27, 2020 at 5:09 PM

Hi Fabian,

In fact a posreg can be one of three "Position-Types":

- JOINTPOS

- XYZWPR

- POSITION

when executing PR[5]=UF[2]

the PR[5] type will be POSITION because the UF[2]-type is position.

In most cases you can ignore that:

PR[5]=UF[2]

...

UF[2]= PR[5]

will work!

BUT

PR[5,1] is not the X-Value! in this case X is PR[5,7]

--------------

best regards

PnsStarter

**Fabian Munoz** · April 27, 2020 at 5:46 PM

Thanks

Setting the variable $PR_CARTREP =TRUE was the correct answer

Nation · April 30, 2020 at 3:49 PM

To expand on this, what you were seeing was the transform matrix representation of the point, which I prefer, as it is unambiguous.

Transform matrix:

NX	OX	AX	LX
NY	OY	AY	LY
NZ	OZ	AZ	LZ
0	0	0	1

The N, O, and A columns represent vectors describing the axis of the new frame in the X, Y, and Z coordinates in previous frame (world), and the L column represents the distance to the origin in the previous frame.

Erik Olsen · May 1, 2020 at 7:57 PM

Quote from Nation

To expand on this, what you were seeing was the transform matrix representation of the point, which I prefer, as it is unambiguous.
Transform matrix:
NX OX AX LX
NY OY AY LY
NZ OZ AZ LZ
0 0 0 1
The N, O, and A columns represent vectors describing the axis of the new frame in the X, Y, and Z coordinates in previous frame (world), and the L column represents the distance to the origin in the previous frame.

Does the 4th column have something to do with conf then? Matrix representation has always been something I've struggled to wrap my head around but your description here is the first time its made some sense.

Nation · May 2, 2020 at 4:11 AM

Nope, config is stored separately, and not related to the matrix.

Sergei Troizky · May 2, 2020 at 10:53 PM

Quote from Doctor_C

...I have found that the newer robots don't like it set permanently.

Doctor_C, could you clarify how exactly robots do not like this? What problem(s) does this cause?
I always keep it set and have not had any issues yet.

Doctor_C · May 4, 2020 at 6:39 PM

For years I set that variable in new robot set up, then started seeing issues. I don't remember the errors but i just started using it in the code (on, do the work, then off).

Sorry i don't have a better answer.....

Passing coord from UF to PR

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