help resolving line in program

    Hi there, sorry if this if a bit a newb issue. I am having a keep getting an error at a line that it's out of range. I am guessing I am missing something simple but it's driving me crazy.

    48:L PR[5:Place] 4000mm/sec FINE Offset,PR[12:Zoffset] VOFFSET,VR[1] ;

    PR[5:Place] is the defined taught tube position which I believe is loaded in to a array/tables in 33: PR[5:Place]=P[R[1]] ;
    Offset,PR[12:Zoffset]     should apply z value, so in my case I have put 60mm
    VOFFSET,VR[1] ; this should in theory apply the difference between the found position vs the taught position

    I got the program to kind of work, but accidentally break something again. Right now it's really trial and error as I learn this machine more.

  • SkyeFire October 20, 2023 at 7:12 PM

    Approved the thread.
    Quote from HawkME

    That seems like a bad way to teach a position modified by vision. You effectively have no way to touch it up.

    I am open to suggestion for modification, I didn't write the program. I've attached an ASCII export, it seems like the program could be more effecient
    https://docs.google.com/document/d/1uR…dit?usp=sharing

    Instead of setting the place PR5 with an indexed position array, I would teach a single point for the place point. Then offset it if needed. That way you can just step through the program, jog it in position and press touch up, saying yes to subtracting the VR and PR offsets.

    Before doing that you need to understand why they have 25 hidden points and what the different "vial" positions are for.

    Quote from HawkME

    Instead of setting the place PR5 with an indexed position array, I would teach a single point for the place point. Then offset it if needed. That way you can just step through the program, jog it in position and press touch up, saying yes to subtracting the VR and PR offsets.

    Before doing that you need to understand why they have 25 hidden points and what the different "vial" positions are for.

    I was kind of thinking something along similar lines, funny that the positions where I teach each tube don't show up in the ASCII export. it's a 25 place try with three rows. center row has 9 position and periphery have 8. I think I could ditch the the hole vision offset as the conveyor should stop at the same point. Have the vision offset does give me a little more room if there in a conveyor jam or a power outage during operation and I have to realign it. Then again I've had to realign the camera from time to time and reteach as well from vibration. At some point I just need to fab up a better cam mount that what it came with having offset row make it's a little bit harder.

    in the vision would flow app I can say number to find but whenever I hit snap and find it only finds one that I have marked as the origin where tube 1 should be. I'll forward some more info when I am back in front the machine again on Monday

    So I plotted out the tought positions from the above pick program for better visualization as well, as part of experimenting I taught positions 1 & 2 above the tray. It is interesting to to see the X&Y difference. The rest ot position are how I normally teach with the tube partially in the slot with Z around Z. Hence the applying the Z offset however I could teach like 1 & 2 just above the tray and ditch PR[12] and then just have relative move decend before opening the gripper.

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