Calibrate User Frame using 2 reference points

Hi folks,

I'm working with a Fanuc Cobot CRX-25iA. In my application I'm adjusting the User Frame at the beginning of the program, based on a known reference mark in the product. To do this, I'm making a PAUSE an allowing the operator to manually guide the robot to align the End Effector to the reference mark and START again the program. I'm recording that location (LPOS) in a PR an storing the X, Y, Z components to my UF (the reference mark doesn't really give you a good orientation).

The application is working good, but last Friday we got a part with a considerable variation in the orientation (so far I'm not adjusting orientation, just X, Y, Z). There is a second reference mark on the product, so I'm trying to figure out an easy way to adjust the orientation of the UF using my base point as the origin and the second mark to get the "r" component of the UF. Do you have any suggestion to do this with basic code? I don't have the MATRIX or the MATH functions package, never done a KAREL program either. Thank you!

Quote from Leviafun

If I understand you correctly, you can use similar Karel code:

Code

VAR
	...
	origin, point_1, point_2, result_UF: XYZWPR
	...
BEGIN
	...
	result_UF = FRAME(origin, point_1, point_2)
	...
END

This code allows you to calc UF automaticaly, without opening the menu on TP.

Hi Leviafun,

Thank you for your reply. That looks like a good solution for this. I'm not familiar using Karel code, so I will need a bit of assistance to use this code:

- How to make these variables equal to my physical points, PRs or the specific UF#?

- How can I insert this code in my program?

Thank you!

Quote from Leviafun

I can recomend you to use built-in functions like GET_TPE_PRM() or GET_POS_REG(). GET_TPE_PRM() allows you to read arguments from TP code, when you CALL your KAREL program.

The easiest way is to read your PR[] with GET_POS_REG(). For example:

Code

point_1 = GET_POS_REG(index_1_pt, status)

You can find more information in Fanuc Docs or on this Forum

Thank you for your answer, I'll try with this way!