LPX AND PX

    Hi,


    Can someone explain to me what PLX and PX mean, and what are they used for? Im a intern on a enterprise and im programing on a DX200 controller. The last person that programmed the robot arm left a palletisation sub-routine and in it are the following fuctions:


    '*******INITIAL DEFENITIONS******

    GETS LPX001 $PX001

    GETS LPX002 $PX001


    Im just trying to understand the meaning of this part of the code so the rest makes more sense. Any help would be appreciated.

  • Bruno.Nogueira

    Changed the title of the thread from “PLX AND PX” to “LPX AND PX”.

    $PX is a system variable. $PX001 corresponds to the robot’s current position in Base Frame.


    The LPX is a local position variable. It is only used in that one job.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Post
    Re: P variable PX000 vs $PX001
    […]


    $PX001 is a system variable. This is get the current position in XYZ Base frame.
    $PX000 is get the current position in pulse.

    Anytime you see the $ sign it is a pre-assigned system variable. It is us asking the controller a question. Where is this or that, did this happen or not.

    When you see the X, the X stands for Expanded Control Group Axes. This is just a reminder that I may get more information than I was expecting and need to plan accordingly. An example of this is if I ask the…
    95devils


    LPX001 and LP001 are the same.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    My problem is that i was using local variables (LD and LP) and in order for the robot move to a LP001, for example, its requires for me to put those initial defenitions. Does the program uses the current position as reference?


    Part of the program for reference:


    '*******INITIAL DEFENITIONS******

    GETS LPX001 $PX001

    GETS LPX002 $PX001

    GETS LPX003 $PX001

    GETS LPX010 $PX001

    '

    'READ POINT DEPALLETISATION

    GETE LD001 P002 (1)

    GETE LD002 P002 (2)

    GETE LD003 P002 (3)

    GETE LD004 P002 (4)

    GETE LD005 P002 (5)

    GETE LD006 P002 (6)


    'CALCULATE MATRIX POSITION

    SET LD001 EXPRESS LD001 - D002 * I006 + D087

    SET LD002 EXPRESS LD002 + D001 * I005 + D088

    SET LD003 EXPRESS LD003 + D000 * I007 + D089

    SET LD013 EXPRESS LD003 + 90000

    '

    'DEFINE PICK POINT

    SETE LP001 (1) LD001

    SETE LP001 (2) LD002

    SETE LP001 (3) LD003

    SETE LP001 (4) LD004

    SETE LP001 (5) LD005

    SETE LP001 (6) LD006

    '

    'DEFINE APROXIMATION POINT

    SETE LP002 (1) LD001

    SETE LP002 (2) LD002

    SETE LP002 (3) LD013

    SETE LP002 (4) LD004

    SETE LP002 (5) LD005

    SETE LP002 (6) LD006


    Why do i need to do "INITIAL DEFENITIONS" in order for the program to recognize LP001 and LP002 if im getting the position variables from P002 ?

    In that snippet of code P002 isn't doing anything. It maybe somewhere else in the job or another job. P002 is global.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

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