Can I not do an offset with a UFRAME on a point? I am using an Rj2 controller. Basically I have two pallets side by side, I was hoping to write one program and set the user frame to the right reference before execution but it seems only PR[]s can be used for offsets?
offset with a UFRAME on a point
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Davidvonsacken -
May 20, 2020 at 12:30 AM -
Thread is Unresolved
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Only PRs will work with different user frames. But there is a way to cheat the system and use regular points. Use only UF[1] in your program. Teach UF 2 and UF 3 to each pallet.
Then at the start of your program.
IF (pallet A), PR[x] = UF[2]
IF (pallet B), PR[x] = UF[3]
UF[1]=PR[x]
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Thanks, that is an option. Also I noticed when I am storing points in the program they are not storing a UF to the point, it remains 0, so I am guessing there is a trick to that as well otherwise your workaround would also not work?
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You must first teach the user frames. Then if modifying a value, run that code first. Make sure the correct User frame is selected and you are in user mode. Then teach points.
If you don't select a user frame first then you have been teaching everything in world, points and PRs.
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I set the uframes up first and touch up the points in user but still 0? Could it be my frame was setup with tool 6 ( pointer) and teaching is with tool 1 (gripper)?
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If UF =0 it means you never selected the active UF.
Press shift+coord, highlight UF and press the number you want. If you press shift+coord again it will show the active UT and UF. They must be correct before you teach any points.
Also you must teach UT of pointer first and set it as active before teaching any UFs.
Since you didn't know this I would assume your UFs are taught wrong and need to be redone.
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Thanks! I will review but this was the process I went through when I setup the robot. Maybe I was not clear in my email, but this is a refurbished robot. I did set my pointer tool frame first. It jogs as expected. I then setup my frames with the pointer and the 3-point method. I did also then verify as you said shift and cord to ensure the right tool and uframe, but after touch up the point is still uframe 0.
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That is strange. Try deleting and teaching a new point. You also should set the UF in the program and step through the code.
Uframe_num=1
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Not sure what’s going on, but still always zero.
Here are some screen shots of my frames.
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What core software are you using, HandlingTool or PalletTool?
If you send me the .ls file of your program. I can take a look.
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HandlingTool
V4.40-1
I don’t have anyway to currently get programs from the controller. Do you have a way you can suggest to do that also? This controller only has the RS-232-C interface on the front.
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- Best Answer
Check and see if your $USEUFRAME var is set to true. I've never seen it not set to true, but with that era controller, it might be.
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It’s FALSE. That was it.