Hi,
The PULSE value are feedback from servo motor, when the servo turn, it give you value in PULSE. If you want to use PULSE you must to know how many PULSE is for each turn. It is very hard to understand it therefore it is better to use ROBOT (X,Y,Z). In this Coord, you must set six value for robot and it is understandable.
You don't need to set the Flip/Noflip, only you move robot and teach in this mode. For teach, press MODIFY+ENTER.
Pulse is an absolute position. The arm orientation will be guaranteed. Tool data doesn’t affect the position.
XYZ is a mathematical position. The arm orientation is not guaranteed. Changing tool data will change the position/orientation or both. XYZ is move the tool to some distance and orientation from something. TCP to the origin of the robot or tcp to the origin of a user frame, etc.
XYZ position variables can be used for temporary or permanent shifting, IMOVs, or move to this position as in calculated moves.
The arm orientation is not guaranteed.
Just want to reiterate this point. We had a machine that was taught by the supplier, Every position was a PVAR in XYZ.
Everything standard worked well, but if an abnormal condition happened, and the maintenance team had to home the robot, they would get the B Axis 180deg out.
Everything looked normal and it would run, but our final place position was .5mm off and that was visible in the final part.
Reteaching to PVAR and the issue was gone forever.
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