Put it at the beginning of your Main program. Use the correct program select method to ensure you always start with Main.
Also make sure to set the correct UF and UT in your program above those lines of code, or bad things can happen.
If the robot is already up high, you will get a position not reachable or limit error. You could determine an absolute ceiling and subtract the current Z value from it. Use that value for PR96. And is it not the third component of the PR you need to assign that value?
he robot is already up high, you will get a position not reachable or limit error. You could determine an absolute ceiling and subtract the current Z value from it. Use that value for PR96. And is it not the third component of the PR you need to assign that value?
can I offset 2 axis on one move?
No problem, if needed you can change all components together.
The correct way to do what you want is to use Diag_GRP[1].CUR_TCP_X, Diag_GRP[1].CUR_TCP_Y, Diag_GRP[1].CUR_TCP_Z system variables to determine the currect robot TCP position in Cartesian Coords (WORLD) insite a BGLOGIC program running on High Priority.
Use your own DOs depending the TCP Location. Create a home routine and use those DO signals to safely exit any danger zone (defined in the BG logic) and return home. BG logic will constantly update those DOs based on its current TCP location. Each time you will call your Home routine, the robot will use some branch logic (IF-ELSE) based on the signal ON from the BG LOGIC to decide the exit strategy and safely return home.
You can even use CUR_TCP_W, CUR_TCP_P, CUR_TCP_R which represents your TCP orientation to better define your danger zone. Or you can use Space Function which is a standard function although I find that creating my own Space Function is a lot more reliable than the embedded space function that has a lot of bugs (especially when using continuous turn axis).
This is a sample code that defines 3 "hazard zones" for my robot and constantly checks for them.
IF ($DIAG_GRP[1].$CUR_TCP_X<1050) THEN
DO[4:ON :out of space wheelstabl]=ON
ELSE
DO[4:ON :out of space wheelstabl]=OFF
ENDIF
IF ($DIAG_GRP[1].$CUR_TCP_Y<700) THEN
DO[35:ON :out of space bench]=ON
ELSE
DO[35:ON :out of space bench]=OFF
ENDIF
IF ($DIAG_GRP[1].$CUR_TCP_X<(-90) AND $DIAG_GRP[1].$CUR_TCP_Y<(-700)) THEN
DO[3:ON :out of space barrel]=OFF
ELSE
DO[3:ON :out of space barrel]=ON
ENDIFand this is my R_HOME macro:
UTOOL_NUM=1
UFRAME_NUM=0
IF (DO[36:R_HOME]=OFF) THEN
IF (DI[20:Home Robot]=ON) THEN
OVERRIDE=25% PR[31:Home robot]=LPOS
IF (DO[4:out of space wheelstable]=OFF) THEN PR[31,1:Home robot]=PR[31,1:Home robot]-300
ENDIF
IF (DO[35:out of space bench]=OFF) THEN
PR[31,3:Home robot]=PR[31,3:Home robot]+250
ENDIF
IF (DO[3:out of space barrel]=OFF) THEN
PR[31,1:Home robot]=PR[31,1:Home robot]+250
PR[31,2:Home robot]=PR[31,2:Home robot]+250
ENDIF
L PR[31:Home robot] 400mm/sec FINE
JMP LBL[1]
ELSE
LBL[1]
J P[1] 100% CNT100
R[62:in to drwer 1]=0 R[63:in to drwer 2]=0
ENDIF
ELSE
ENDIF concerning the palletizing program, you could automate the function:
!OFFSET X;
R[59]=85 ;
!OFFSET Y ;
R[60]=85 ;
!OFFSET Z ;
R[61]=200;
!COLUMNS
R[65:columns max]=4
!LINES
R[67:lines max ]=6
!ROWS
R[68:stacks max]=4
R[70:piece to deposit 2D]=1
R[80: piece to deposit 3D]=R[70:piece to deposit 2D]
R[69:pcs max 2D] = R[67:lines max ]*R[65:columns max]
R[90:pcs max 3D] = R[67:lines max ]*R[65:columns max]*R[68:stacks max]
LBL[1]
! calculate current line
IF (R[70:piece to deposit 2D]>R[69:pcs max 2D]) THEN
R[70:piece to deposit]=1
ENDIF
R[79]=R[70:piece to deposit]-1
R[71:current line]=R[79:piece to deposit-1] DIV R[67:lines max]
! calculate current column;
R[74]=R[71:current line]*R[65:columns max] ;
R[77]=R[70:piece to deposit]-R[74] ;
R[73:row actual-1]=R[77]-1 ;
! calculate current stack;
R[77]=R[80: piece to deposit 3D] DIV R[69:pcs max 2D]
R[79:stack actual-1]=R[77]-1 ;
R[75:offset x]=R[59:base x]*R[71:current line] ;
R[76:offset y]=R[60:base y]*R[73:row actual-1] ;
R[78:offset z]=R[61:base z]*R[79:stack actual-1] ;
!initialize a PR to be used as the palletizing offset
PR[55]=LPOS ;
PR[55,1]=0 ;
PR[55,2]=0 ;
PR[55,3]=0 ;
PR[55,4]=0 ;
PR[55,5]=0 ;
PR[55,6]=0 ;
!apply the calculated offset values for x,y,z based on the current line row and stack
PR[55,1]=PR[55,1]+R[75:offset x] ;
PR[55,2]=PR[55,2]+R[76:offset y] ;
PR[55,3]=PR[55,3]+R[78:offset y] ;
!pickup
###########PICKUP APPROACH AND PICK POSITIONS############
!deposit
J P[2:over pcs] 100% CNT100 Offset,PR[55] ;
J P[3:over pcs proximity] 100% CNT10 Offset,PR[55] ;
L P[4: Deposit position] 45mm/sec FINE Offset,PR[55];
!realease your workpiece and move away
J P[3:over pcs proximity] 100% CNT10 Offset,PR[55] ;
J P[2:over pcs] 100% CNT100 Offset,PR[55] ;
!RETURN TO A REF POSITION OR A HOME MACRO LIKE THE ONE I MENTIONED ABOVE
R[70:piece to deposit 2D]=R[70:piece to deposit 2D]+1;
R[80: piece to deposit 3D]=R[80: piece to deposit 3D]+1;
JMPLBL[1]This way you only need to teach 3 positions relating to approach and deposit of the first piece. Robot will calculate everything else.
