Hey Guys,
I have been having problems running a program on my robot from the TP efficiently. The issues have been with some particular PR positions, line numbers 58, 62, and 67 (please see program below) will not go to the new recorded position, but will always end up in the previously recorded position that was initially loaded. If I go to Data - PR - and do a Shift + Move to - to PR 49,51,53 the robot will move to the position I wanted (i.e the position I just recorded) but when I run the program going through one line at a time it will end up in a different position (i.e the position initially loaded). I don't know if it's the offset added between the linear movement in the program that is causing this or something else, it's really confusing and I don't understand what is going on. Any suggestion will be very much appreciated.
42:L PR[9:EnterCart2] 4000mm/sec CNT50 ;
43: ;
44: ;
45: UFRAME_NUM=2 ;
46: UTOOL_NUM=1 ;
47: ;
48: R[1:X~OFFSET ]=GI[1:POS X~OFFSET] ;
49: R[2:Z~OFFSET]=GI[2:POS Z~OFFSET] ;
50: PR[1,1:OffsetX~Z]=R[1:X~OFFSET ] ;
51: PR[1,3:OffsetX~Z]=R[2:Z~OFFSET] ;
52: ;
53: ;
54: PR[48:2MiniAbovePoint]=PR[49:2MiniAboveReset] ;
55: PR[48,1:2MiniAbovePoint]=PR[48,1:2MiniAbovePoint]+PR[1,1:OffsetX~Z] ;
56: R[10:HOMING]=320 ;
57: GO[2:HOME TRACKER BITS]=R[10:HOMING] ;
58:L PR[48:2MiniAbovePoint] 3000mm/sec CNT25 ;
59: ;
60: PR[50:2MiniNearPoint]=PR[51:2MiniNearReset] ;
61: PR[50,1:2MiniNearPoint]=PR[50,1:2MiniNearPoint]+PR[1,1:OffsetX~Z] ;
62:L PR[50:2MiniNearPoint] 1000mm/sec FINE ;
63: ;
64: ;
65: PR[52:2MiniPlacePoint]=PR[53:2MiniPlaceReset] ;
66: PR[52,1:2MiniPlacePoint]=PR[52,1:2MiniPlacePoint]+PR[1,1:OffsetX~Z] ;
67:L PR[52:2MiniPlacePoint] 750mm/sec FINE ;
68: ;
69: IF DI[53:Dry Run Request]=ON,JMP LBL[4] ;
70: IF RI[4:PART PRESENT]=OFF,JMP LBL[9999] ;
71: LBL[4] ;
72: DO[55:Suction Off To PLC]=OFF ;
73: DO[56:BlowOff On To PLC]=PULSE,1.0sec ;
74: DO[52:Part Placing To Cart 2]=PULSE,2.0sec ;
75: DO[50:Part Placed]=PULSE,0.5sec ;
76: WAIT .25(sec) ;
77: ;
78:L PR[52:2MiniPlacePoint] 1000mm/sec CNT10 Offset,PR[2:OffsetZ 300] ;
79: ;
80: ;
81: UFRAME_NUM=0 ;
82: UTOOL_NUM=1 ;
83: PAYLOAD[1] ;
84: ;
85:L PR[9:EnterCart2] 4000mm/sec CNT50 ;
86: ;
87: R[10:HOMING]=300 ;
88: GO[2:HOME TRACKER BITS]=R[10:HOMING] ;
89:L P[15] 4000mm/sec CNT50 ;
90:L P[16] 4000mm/sec CNT100 ;
91: ;
92: R[10:HOMING]=140 ;
93: GO[2:HOME TRACKER BITS]=R[10:HOMING] ;