Fanuc CRX 10iA - Position Register not updating

Hello everyone,

I am currently working on a palletizing function on a CRX-10iA. I have set up every position I need and most of it works, I have run into one problem,however. When the Palletizing moves from Grip-position 1 to the second or third, I have used 3 position registers to make sure the robot can take the part without colliding. I need it to move slightly diagonally after the part has been gripped.

The first two pos.reg. work fine (positioning slightly above the part and the grip position) but the third (moving away) is not being updated. E.g. I move from x100 and y200 to x120 and y220. The first to do change the coordinates but the last stays at x100 and y200.

I am relatively new to working with FANUC`s collaborative robots so I don`t know if I am missing anything.

I have tried touching up multiple times and have also used an entirely new pos.reg. Nothing seems to solve the problem.

Any help would be much appreciated!

Hello again,

I have been able to resolve my issue.

My problem was a misunderstanding on how position registers work. They are global frames and do not work relative to another position.

Palettizing uses them differently and updates them because the original position changes depending on where on the palett the cobot is right now.

What I really needed was an offset. Apologies for the misunderstanding and thank you for your time