Is there a way to add more user frames than the standard 9?
R30iA controller
Is there a way to add more user frames than the standard 9?
R30iA controller
You could store them in position registers:
PR[...]=UFRAME[...]
And then to restore it, use the command "UFRAME[ ]=..." in the "Offset/Frames" submenu:
UFRAME[...]=PR[...]
I've had to do this before, and one of the most efficient ways to switch frames is to write a separate program and call it with an argument, instead of using the UFRAME_NUM=... command. Like so:
PROGRAM MAIN
1: CALL FRAMESET(1);
END;
PROGRAM FRAMESET
1: UFRAME[9]=PR[AR[1]]; This will put PR[1] into User Frame 9
2: UFRAME_NUM=9;
END
You can do the same thing with tool frames. I've had to do that before on a robot that had to run a bunch of different parts. Each part needed a different end effector, and each end effector had three to four different tool points.
Thanks flatcurve, that may be my only option.
What is the AR?
What is the difference from using PR[1]?
AR[1] is the argument used when calling the sub program. It's a way to pass data to another program without having to use another line to put it into a register.
When you use the CALL statement, if you move the cursor over to the right of the program name, you can press F4 [CHOICE] to bring up a list of different types of data you can pass into an argument. It can be a constant, register, string, a string register, an argument register (if the program was called by another program itself) or a combination of up to 10 of any of those data types.
Section 6.18 of the Handling Tool documentation covers it pretty well.
Do a controlled start (hold F1 and F5 on power up) and change this variable:
$SCR.$maxnumufram
Name: Maximum Number of User Frames
Description: Displays the total number of user frames the coordinate system can register.
Power Up: On_Cold_Start
By default it will be a 9, but I've taken it up to 19 before on a real robot with no adverse effects. I just played around with it in sim pro, and it looks like the max number is 61. That was with HandlingTool V7.70P/14.
Word of caution though, I've noticed that the program utilities don't seem to like frames above 9. I think alot of them were coded with the max number of user frames being a 9 in mind
Here's the one for Utools if you need it:
$SCR.$maxnumutool
I had to research this today. Older controllers such as R-J3iB can only have up to 10 tool frames. However, starting with the R-30iA controllers can have up to 29. According to Fanuc tech support.