In yaskawa robot position register P0001 have x ,y ,z value ,I want to move the robot from a fixed position to on x axis first and second y and at least z want to move.how it's possible in shift on comments all 3 axis moving simultaneously.i want it one by one movement.
Yaskawa robot offset correction
- Sreerag
- Thread is Unresolved
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to use one by one, you have to use 3 different P variables, and store what you want to shift at that time.
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Are you wanting to do an absolute position or incremental? Either one could be done in a single position variable or three position variables.
IMOV (using 3) Absolute
SUB P000 P000 GETS Px000 $Px000
SUB P001 P001 GETE D000 (1) Px000
SUB P002 P002 ADD D000 XXXXX
SETE P000 (1) XXX SETE P000 (1) D000
SETE P001 (2) XXX MOVx P000 VJ/V=
SETE P002 (3) XXX GETS Px000 $Px000
IMOV P000 V= GETE D000 (2) Px000
IMOV P001 V= ADD D000 XXXXX
IMOV P002 V= SETE Px000 (2) D000
MOVx P000 VJ/V=
or GETS Px000 $Px000
IMOV (using 1) GETE Px000 (3) D000
SUB P000 P000 ADD D000 XXXX
SETE P000 (1) XXX SETE Px000 (3) D000
IMOV P000 V= MOVx P000 VJ/V=
SUB P000 P000
SETE P000 (2) XXX
IMOV P000 V=
SUB P000 P000
SETE P000 (3) XXX
IMOV P000 V=
Couple different examples to do this. It is programming so many ways to do this. If it meets your needs and easy to follow it's good. Little messier than what I'd do. Number of lines can be reduced but the long way lets you see the thought process.
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