Still a little new to Fanuc. I am wanting to set a home position for the robot. What is the difference between using a position register and the reference position? Are they not the same. Thanks for any help!!!!
Reference position/position register
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Jerryl859 -
January 18, 2021 at 1:06 AM -
Thread is Unresolved
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Hi,
Position register is Your "HOME" point You use in Your programs, macros and such while Reference position is used for sending out an output for example to PLC that robot is waiting in a set position
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One thing to remember with reference positions is that they are recorded as joint coordinates, not X, Y, Z, W, P, R, thus they are absolute. Position registers can be recorded either way, but, if they are in a Cartesian format they are not absolute, they are relative to the current user frame and user tool.
When using a reference position to set an output, make sure to open up the joint tolerances. They default to +/-0.000 degrees, so the output will only be on if the servos are armed, and even then, only maybe. I usually open up the tolerance to +/-0.1 degree. Also, don't forget that if you have a reference position that is the same as a position register, you will need to touch up the reference position anytime the the position register is re-taught.
One last thing, you can execute a program to move to a position register, i.e. L PR[1] 2000 mm/sec Fine, but you cannot execute a program to move to a reference position, the only way to move to the reference position is through the reference position menu.
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Thanks for the info!!!!