Is it possible to program Reference Positions to match PR's?

Nation · September 3, 2020 at 3:24 AM

The joint move were for gross movements over the cell. Once in front of a fixture I would enter into a specific fixture program, which did include a lot of linear moves.

The loop could be running on the robot side as a background logic program. It would take over the role of the reference position function. Disable the reference positions for a particular point, and turn on the output that was associated with the reference position with the BG program.

Code

/PROG BG_WORLDZONE
/ATTR
OWNER = MNEDITOR;
COMMENT = "";
DEFAULT_GROUP = *,*,*,*,*;
/MN
1: R[101:X World]=($SV_INFO[1].$CART_POS[1]) ;
1: R[102:Y World]=($SV_INFO[1].$CART_POS[2]) ;
1: R[103:Z World]=($SV_INFO[1].$CART_POS[3]) ;
2: DO[10]=(R[101]>1500 AND R[101]<1600 AND R[102]>(-100) AND R[102]<100 AND R[103]>1000 AND R[103]<1200) ;
/POS
/END

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Lemster68 · September 4, 2020 at 7:49 PM

Sooo...I was thinking about this: why not just do the simple, old school method of moving to a position, set an output that you are in position. If you need to actually identify which position, set a group output, as Nation mentioned. Move robot clear, set clear output, and so on.

Robot Programmer · September 4, 2020 at 8:05 PM

I use Reference positions to indicate to the PLC when not to let something move while the robot is interacting with it. The advantage is Reference positions work independently of the program. So if E-Stopped in the press, nothing bad can happen... Programmatic bit saying I'm ready to enter the press (I call this handshaking) is for keeping the PLC and Robot in sync.

That being said I have had need for moving to a reference position during operation. So I call this sub when the program starts:

1: R[22:TEMP2]=$REFPOS1[1].$PERCHPOS[1] ;

2: R[22:TEMP2]=R[22:TEMP2]*57.2958 ;

3: PR[1,1:Ref Pos 1 PK]=R[22:TEMP2] ;

4: R[22:TEMP2]=$REFPOS1[1].$PERCHPOS[2] ;

5: R[22:TEMP2]=R[22:TEMP2]*57.2958 ;

6: PR[1,2:Ref Pos 1 PK]=R[22:TEMP2] ;

7: R[22:TEMP2]=$REFPOS1[1].$PERCHPOS[3] ;

8: R[22:TEMP2]=R[22:TEMP2]*57.2958 ;

9: PR[1,3:Ref Pos 1 PK]=R[22:TEMP2] ;

10: R[22:TEMP2]=$REFPOS1[1].$PERCHPOS[4] ;

11: R[22:TEMP2]=R[22:TEMP2]*57.2958 ;

12: PR[1,4:Ref Pos 1 PK]=R[22:TEMP2] ;

13: R[22:TEMP2]=$REFPOS1[1].$PERCHPOS[5] ;

14: R[22:TEMP2]=R[22:TEMP2]*57.2958 ;

15: PR[1,5:Ref Pos 1 PK]=R[22:TEMP2] ;

16: R[22:TEMP2]=$REFPOS1[1].$PERCHPOS[6] ;

Lemster68 · September 4, 2020 at 8:09 PM

RobotProgrammer , You reminded me that I was going to also ask what is the possibility that some machinery will operate (for the very reason you stated, that it is independent of the program, just automatic) while one is maybe stepping through the program, as if to touch up some points.

drdap · September 8, 2020 at 7:10 PM

Well with all of everyone's input, I think I have it solved.

Wrote a combination of a TP program that calls a KAREL program so I can now easily update whatever REFERENCE POSITION I want to.

Giving credit to the other's and code references in this post - a lot of this was copied from existing programs they wrote and then I modified to fit my circumstances.

Hopefully this will save someone else a bit of time in the future.

It seems to work quite well for me, but as always, I'm sure there could be some improvements in the code, or a scenario where this won't work.

KAREL Program:

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

--- Section 0: Description

--- This should be called from a TP program as:

--- : CALL K_UpdateRefPos( 1, 2, 3, 4) ;

--- 1 is the REFPOS number to update

--- 2 is the POSITION register WITH the cartesian point TO convert

--- 3 is the number OF the UFRAME

--- 4 is the number OF the UTOOL

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

--- Section 1: Program and Environment Declaration

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

PROGRAM K_UpdateRefPos

%NOLOCKGROUP

%COMMENT = 'K_UpdateRefPositions'

%ALPHABETIZE

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

--- Section 2: Variable Declaration

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

CONST

cc_success = 0 -- Success status

cc_xyzwpr = 2 -- Position Register has an XYZWPR

cc_jntpos = 9 -- Position Regsiter has a JOINTPOS

VAR

REFPOS_NUM :INTEGER

PR_NUM :INTEGER

UF_NUM :INTEGER

UT_NUM :INTEGER

result :INTEGER

data_type :INTEGER

str_value :STRING[10]

real_value :REAL

xyz :POSITION

jpos :JOINTPOS

dummyArray :ARRAY[9] OF REAL

indx :INTEGER

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

--- Section 3: Routine Declaration

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

--- Section 4: Main Program

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

BEGIN -- K_UpdateRefPos

-- Retrieve TP Arguments

GET_TPE_PRM(1, data_type, REFPOS_NUM, real_value, str_value, result)

GET_TPE_PRM(2, data_type, PR_NUM, real_value, str_value, result)

GET_TPE_PRM(3, data_type, UF_NUM, real_value, str_value, result)

GET_TPE_PRM(4, data_type, UT_NUM, real_value, str_value, result)

-- intialize array

FOR indx = 1 TO 9 DO

dummyArray[indx] = 0.0

ENDFOR

-- make sure it is not at singularity point

dummyArray[5] = 90.0

-- Get Position Register in cartesian format

xyz=GET_POS_REG(PR_NUM,result)

-- verify register retrieved ok

IF (result = cc_success) THEN

-- Set user frame of reference

-- $UFRAME=$MOR_GRP[1].$NILPOS --use this for world

$UFRAME = $MNUFRAME[(UF_NUM),1]

-- Set tool reference

$UTOOL=$MNUTOOL[(UT_NUM),1]

-- convert 'xyz' to joint position

jpos=xyz

-- convert jpos to a REAL array

CNV_JPOS_REL(jpos,dummyArray,result)

-- convert jpos to radians and store in REF position

$REFPOS1[REFPOS_NUM].$PERCHPOS[1]=(dummyArray[1]*0.01745)

$REFPOS1[REFPOS_NUM].$PERCHPOS[2]=(dummyArray[2]*0.01745)

$REFPOS1[REFPOS_NUM].$PERCHPOS[3]=(dummyArray[3]*0.01745)

$REFPOS1[REFPOS_NUM].$PERCHPOS[4]=(dummyArray[4]*0.01745)

$REFPOS1[REFPOS_NUM].$PERCHPOS[5]=(dummyArray[5]*0.01745)

$REFPOS1[REFPOS_NUM].$PERCHPOS[6]=(dummyArray[6]*0.01745)

ELSE

WRITE('Error getting PR',CR)

ENDIF

END K_UpdateRefPos

**Fabian Munoz** · September 8, 2020 at 8:11 PM

Thanks for posting the code

I have a question. Let say I want to use this program, where do I call on the TP ?

Can you post a short example ?

Erik Olsen · September 8, 2020 at 8:17 PM

Quote from Fabian Munoz

Thanks for posting the code
I have a question. Let say I want to use this program, where do I call on the TP ?
Can you post a short example ?

His Karel comment actually explains most of it.

Code

KAREL Program:

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

--- Section 0: Description

--- This should be called from a TP program as:

--- : CALL K_UpdateRefPos( 1, 2, 3, 4) ;

--- 1 is the REFPOS number to update

--- 2 is the POSITION register WITH the cartesian point TO convert

--- 3 is the number OF the UFRAME

--- 4 is the number OF the UTOOL

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You would just call it anywhere after you teach the position register specified in argument #2.

IE:

Code

UFRAME=1;
UTOOL=1;


PR[10,1]=PR[10,1]+25;
CALL _UpdateRefPos(1,10,1,1);

Is it possible to program Reference Positions to match PR's?

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