Hi everybody
I would need to write the coordinates of base number 16 measured by tool number 16 at point "P3". I define point P3 to config as variable E6POS. Subsequently move ptp to the beginning of this base 16 with tool 16. The problem is, that robot write error message "unreachable point" on axis 5.
My program:
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
$ADVANCE=1
$BASE=$NULLFRAME
$TOOL=TOOL_DATA[16]
XP3=BASE_DATA[16]
wait sec 0
ptp XP3
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD