Hi.I would like to set a maximum range for the values of X, Y, Z, W, P, R.
Something like:
IF PR[5,1]>155 AND <175 , JMP LBL(22)
! WRONG VALUE
UALM[2]
LBL[22]
IF doesn't work with Position Register.
How could i do that?
Using IF with Position Register
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Cleber Mori -
June 5, 2023 at 2:48 AM -
Thread is Unresolved
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panic mode
June 5, 2023 at 4:41 AM Approved the thread. -
Code
IF ((PR[5,1]>155) AND (PR[5,1] <175)) , JMP LBL(22) -
You are missing a part.
IF PR[5,1]>155 AND PR[5,1]<175 , JMP LBL(22)
This wont work with RJ and earlier.
(the mixed logic solution of Hermann will work fine too.)
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And don't forget to change the lines UALM[2] and LBL[22].
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The correct syntax with no redundant brackets is:
IF (PR[5,1]>155 AND PR[5,1]<175),JMP LBL[22]
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" I don't have the option to use IF with PRs."
What makes you think so? This ability is not an option.
The syntax provided works on R30iA and R30iB.
Are you editing on the robot teach pendant or in PC text editor?
What are your regional settings for decimal separator? Is it . or , ?
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Are you trying to do this on a non motion program (No groups assigned)? Or on a paint robot?
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1. What system version do you have?
2. Solution is to copy the PR[5,1] to a R[] and use that for comparison.
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Hermann's answer would be a solution. Thank you Hermann. But the problem is that I will need many Registers and I have few available. For each PR would need 6 registers (x, y, z, w, p, r).
Is there another way to do this?
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IF instructions with no brackets do not support position registers.
Use IF(...) instruction.
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