Help with SET instruction

    Hello!

    Im having some troubles using the SET instruction on YRC1000.

    I want to perform an Absolute shift with the SHFTON instruction, my program is written like this

    SET P000 " Here i would like to set P000 (0,200,0,0,0,0) for the SHFTON to shift 200mm in Y direction--> How do i set these values on the controler ? Does P000 have to be set up as an array P[]?

    MOVJ VJ=100.00

    MOVL V=80.0

    MOVL V=80.0

    MOVL V=80.0

    MOVL V=80.0

    MOVJ VJ=100.00

    SHFTON P000

    MOVJ VJ=100.00

    MOVL V=80.0

    MOVL V=80.0

    MOVL V=80.0

    MOVL V=80.0

    SHFTOF

    END

    Thank you for all help !

  • Go to Best Answer

  • darth0 January 14, 2025 at 8:09 AM

    Selected a post as the best answer.

    Use the SETE function and set (1), (3), (4), (5) and (6) all to 0, with (2) set to 200.

    I have noticed the units are sometimes different and sometimes not, so 200 may need to be 20,000 instead of 200 but start small at first! :grinning_face_with_smiling_eyes:

    Quote from BMGN01

    I have noticed the units are sometimes different and sometimes not

    On the YRC the X,Y, and Z are in millimeters. The Rx, Ry, and Rz are in degrees. Looking at ROBOT, CURRENT POSITION, the XYZ goes out 3 decimal places, rotation 4 decimal places.

    20000 set into X,Y, or Z is 20 mm.


    20000 set in Rx,Ry, or Rz is 2 degrees.


    If the position variable is formatted as pulse then the number is a whole number.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    The CNVRT instruction under ARITH will convert a position variable from pulse to XYZ or a XYZ to another XYZ.

    Example: Pulse to Base, Robot, or User.


    Example: Base to Robot, or Robot to User.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

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