position register changing representation

Good day,

I've got a weird one that I'm hoping someone can help me with. I have user frame values stored in PRs. I get a call saying they are getting a 'position not reachable' alarm. I looked at PR[1] and while it has the same numerical values, it has somehow gone from Cartesian coordinates to joint angles. As far as I know, the only two ways to change the representation of a PR is either manually on the TP or by doing PR[X]=JPOS. Nobody touched the TP and we do not use JPOS instructions at all. Are there any other ways for a PR to programmatically change representation from Cartesian to joint?

Thanks,
Lei

Yes, fair point but I looked at recorded camera footage and there was indeed nobody around the TP at the time it happened.

It did happen once last year, at which time I thought it must have been someone's fat fingers. However, the number of key presses made the chances of it being accidental very unlikely.

We do not have PalletTool or PickupTool.

Quote from PnsStarter

Hello leidai5,

The representation of a Posreg can be changed with a Karel-Prog too.

AND

using a command like

PR[1]= UTOOL[1]

will change the Reprentation to the type "POSITION"

you see something like NX, NY...

..

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Thanks for the ideas.

We don't use any KAREL programs on this robot.

The only instructions that involved PR[1] are:

33: UFRAME[1:User Frame]=PR[1:L1 User Frame] ;

34: UFRAME_NUM=1 ;

So we copy the contents of PR[1] into UFRAME[1] but nothing writes into PR[1].

Yea, this only happened a couple of times in the past year and only with PR[1]. Sounds like we should just avoid using PR[1]. Should be an easy enough change. Thanks!