Offset condition instruction

    I have a question regarding offsets, specifically the offset condition instruction. I prefer to use the offset condition instruction when I want to apply the same offset to multiple motion instruction statements. However, when I was reviewing the Fanuc manual, it mentioned that you could specify a u-frame as an option at the end of the instruction (See attached snip). I do not understand how specifying the u-frame would work or change the related offset motions. It was also mentioned that if you do not specify a user frame, then the world frame is assumed. Can anyone offer any insight to clarify this option a bit? Thanks

    FYI: I have $OFFSET_CART=False




    If you don't specify then it will use the currently active user frame, not world.


    I suppose you could use it if you wanted to offset relative to a different frame than the one that the base point is taught in, but I have never come across that situation. Instead I just teach the base point in the frame that I want both the point and offset relative to. Then make sure you set the active uframe and utool # at the top of your program.


    : UFRAME_NUM = X;

    : UTOOL_NUM = Y;

    Yes, that makes sense to me. --> if you don't specify, then it will use the currently active user frame.

    That is what I observed when I test it in Roboguide. Thanks for confirming.


    I also noticed that initially, the resulting position was not what I expected (the sum of x,y,z,w,p,r elements). The reason was that the system variable $OFFSET_CART was set to True. Things started working as I expected after changing that value to False.


    from Fanuc manual:

    If $OFFSET_CART is TRUE, offsets for Cartesian positions are treated as frames and used to
    pre-multiply positions. If this is FALSE, offsets for XYZQPR positions are added field by field

    Thanks

    Please excuse my ignorance on this command, but is that command global, or local to only the program its located in?


    if i have a program that calls a few sub programs, could i use that to offset 1 sub program only? I cant offset the userframe because the other sub programs use the same userframe

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