AW Controller question about M59

    Anyone have experience using M59 (search)? I'm reading that M59 used in conjunction with M29 (interrupt) and M52 (shift 2) can offset all the following steps untill reset.... Nachi manual doesnt do a very good job of explaining this. I just ordered the robot and cant try till I get it.... 3 or more weeks out.

    Search command (M59) when used with Robot Interrupt (M29) will detect part position shift and shift values are written to Register(R1). Original part X,Y,Z values are stored for Interrupt first time. Subsequent points are then shifted using Shift command (M52) as per values obtained from Register


    10. MOVE (N)

    11 SEA (1,0,R1) FN 59: Search Start

    12 MOVE (N+1)

    13 RINT (I5, 1, X,Y,Z) – [Values for original part position] FN 29: Robot Interrupt

    14 MOVE (N+2)

    15 SEA (0, 0, R1) FN 59: Search End

    16 SHIFTR (1, 0, R1, 0) FN52: Shift Start

    17 MOVE (N+3)

    18 SHIFTR (0,0,R1,0) FN52: Shift End

    Thanks for the reply Bsrr.... this is going to make my programs work so good....

    btw... has anyone found a way to write programs with a computer? Back when I worked with Nachi programs could only be written using the pendant.

    Thanks Bssr.... is there a de-compiler available? I have some old programs I'd love to look at but when I open them its not readable.

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