hi Guys,
I am looking for a system variable that given the userframe position(x,y,z). does any expert happen to know the answer?
(I mean the current position using userframe coordination instead of the position of userframe.)
best regards,
Chen
system variables for userframe position
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zhaoxiang chen -
July 22, 2020 at 4:35 PM -
Thread is Unresolved
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$MNUFRAME[1,x] where x is the uframe number
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Hey Chen, I am not sure what you need the user frame values for but can you not use your position in world.
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$MNUFRAME[1,x] where x is the uframe number
sorry for my misleading question statement. I mean the current position using userframe coordination instead of the position of userframe.
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Hey Chen, I am not sure what you need the user frame values for but can you not use your position in world.
hey Mastro,
currently, I am using positioner's userframe. Thus, the xyz UF position is very different than WF position when positioner starts rotatation.
regards,
Chen
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UFRAME=X
PR[Y]=LPOS
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UFRAME=X
PR[Y]=LPOS
hi pdl,
thanks for your reply, but I am looking for the system variable only.
regards,
Chen
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What are you trying to accomplish?
Why try and reinvent the wheel when you can just use the tools that are made easily available?
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Search the forum for mch_pos
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$SV_INFO[1].$CART_POS ARRAY[6] OF REAL is the actual position in the World coordinates.
$SV_INFO[1].$CART_POS_UF ARRAY[6] OF REAL is the actual position in the active User Frame.
User Frame #0 is the same as World.
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What are you trying to accomplish?
Why try and reinvent the wheel when you can just use the tools that are made easily available?
For BG logic, for instance.
It does not support position registers, hence cannot use PR[n}=LPOS instruction.
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Hey Chen,
I don't think that such a variable exist.
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Thank you for explaining that this is for BG Logic. That makes sense why you want to look at a variable and not a PR. Just remember that mch_pos does not update while jogging.
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I don't think that such a variable exist.
Funny to see this written after I already posted the requested variable.
Yes, it's missing in older software versions, but the OP did not specify this.
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What are you trying to accomplish?
Why try and reinvent the wheel when you can just use the tools that are made easily available?
hi pdl,
i am not talking about TP program, but using data monitor to record the position during robot movement. System variables can use as an item for data monitor and recording.
regards,
Chen
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Search the forum for mch_pos
based on my understanding, mch_pos shows current position in world frame only.
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$SV_INFO[1].$CART_POS ARRAY[6] OF REAL is the actual position in the World coordinates.
$SV_INFO[1].$CART_POS_UF ARRAY[6] OF REAL is the actual position in the active User Frame.
User Frame #0 is the same as World.
hi Troizky,
thanks for your reply.
the general purpose is to record the coordination of current position in user frame during the robot movement with data monitor. data monitor is an option that able to record register, real, axis and I/O. System variables can use as real for recording in data monitor. thus, i am looking for a system variable only.
your suggestion is applied in KAREL program i assume, but if checking my system variables in teach pendant, i cannot find $cart_pos_ufarray unfortunetly.
regards,
Chen
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What is your controller and the software version?
I have it on TP in v9, but it does not exist in earlier versions.
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You are right, mch_pos is relative to current Tool frame, but only in world frame. The SV_info varible looks interesting but not available on v8 or older.
If you know mch_pos and current user frame values then perhaps you could do the matrix transformation to calculate the position.
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If you know mch_pos and current user frame values then perhaps you could do the matrix transformation to calculate the position.
Is this doable in TP program syntax?
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