You want ONLY the robot?
Posts by Mustangdan
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Did you ever get your SV3X going? I have the same robot at my home and have been using a Phase Perfect phase converter with no issues, Ideally I would like to convert the robot to single phase but it seems that would be more trouble than it is worth.
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Potis,
On my XRC controller...if I have a tool, a small gripper, with a center point 100 mm straight out in center from the robot wrist flange....and I
GETS PX000 $PX001
I know it takes the current position of something and stores it in P000 in xyz format.
1. Is it the current position of the current tool or the wrist flange?
2. How does one dictate what one wants the current position of?
I could then for example add 50000 (50mm) to P000 in z and do
MOVL P000.
Will the robot move the tool with respect to base frame or the wrist to base frame?
This is where I am struggling with what is actually happening.
Thanks -
"what if i have to use without a User frame and i want to move with my tool frame coordinates?"
"If i use CNVRT TFmy Base position at P006 is after conversion P006 in Tool is still with the same value as in Base(so no difference in TF and BF).
X=590.975 X=590.975
Y=-2.886 Y=-2.886
Z=344.190 Z=344.190
Rx=0.3053 Rx=0.3053
Ry=2.2866 Ry=2.2866
Rz=1.4303 Rz=1.4303"I noticed this yesterday also on my machine. After I do CNVRT TF the tool coordinates and Base coordinates are exactly the same. Why? When my machine moves it is not using tool coordinates. So the question still is, what if I want to move without a UF and only want to use TF? Is it even possible?
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So it would be correct to say that the accuracy or correct position movement i.e. MOVL 4mm and it really moves 4mm will TOTALLY depend on how accurately or how lucky I am in realigning the arrows up for the home position?
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Hello,
What is the purpose of the ABS tag data as shown? I would assume when the robot origin (or zero point?) arrows/marks line up the ABS data in pulses should be similar to the tag or I should make it match the tag? It is the original controller and matching robot.
When I program the robot to move 185mm it seems to move about 200mm or so. I am assuming my origin is not set correctly because of this large error?
Thanks
I forgot to mention my robot batteries died while in storage. I replaced them with new ones and the errors were eliminated but the position data was lost......
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Thank you Michael and jejbr84. I am one step further on my way to getting this project functional!
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Hi yet again Michael,
Please excuse my ignorance!
My teach pendant will not allow me to have:CNVRT PX000 PX000 BF TL#(0)
It will only allow me to have in the program:
CNVRT PX000 PX000 TL
or
CNVRT PX000 PX000 BFI tried to write a short program to move the robot over 50mm using the tool frame but I would get an error.
What is not right about this?NOP
MOVJ C00000 VJ=25.00 PL=0
GETS PX000 $PX000
CNVRT PX000 PX000 BF
SUB P001 P001
SETE P001 (1) 50000
ADD P000 P001
MOVL P000 V=35.0
ENDor this?
NOP
MOVJ C00000 VJ=25.00 PL=0
GETS PX000 $PX000
CNVRT PX000 PX000 BF
SUB P001 P001
SETE P001 (1) 50000
ADD P000 P001
MOVL P000 V=35.0
ENDIt must be something simple?
Thank you very much for your help! -
Hi Michael,
Thank you for your reply. I have only used position variables in Rectangular coordinates. I know what distances I would like to move so I have been
entering the distances in mm in each position variable by using SETE.
Would I need to have the command line:CNVRT PX000 PX000 UF#(1) TL#(0) after every GETS command?
I have not defined any user frame that I know of. Can the above just be CNVRT PX000 PX000 TL#(0)?
Below is some of my program:
..............
//INST
///DATE 2013/01/30 22:10
///ATTR SC,RW
///GROUP1 RB1
NOP
'HomePosition
'300mmUp
'55mmFromStk
MOVJ C00000 VJ=25.00 PL=0
GETS PX010 $PX001
GETS PX003 $PX001
SUB P005 P005
SETE P005 (2) 55000
ADD P003 P005
'MoveAboveStack
GETS PX002 $PX001
'MoveDownTopart
SUB P005 P005
SETE P005 (3) -10000
ADD P003 P005
MOVL P003 V=10.0 PL=0
CALL JOB:GRIPCLOS
.......Thank you,
Dan -
Hello, I have been learning to program my robot using position variables. So far so good I think.
Operating with linear moves and XYZ coordinates my program acknowledges:
+/-z moves the robot linearly up or down relative to the floor (or robot base).
+/-Y is for the robot moving linearly to my right or left when I am facing it.
+/- X is for the robot moving linearly closer or farther away from me when I am facing it.This matches the movements as expected from the operators manual diagram.
I now realize my positions may be off because my tool center is 158.4mm out from the robot wrist flange.
Tonight I calibrated the tool center point with the (5) taught positions for the center.
My problem is that now, +/- x is the robot moving up or down and +/- z is the robot moving closer or farther away from me. The x and z seem to have been swapped. I have tried to change the tool angles per the manual but it doesn't seem to make a difference. I wonder if my program just needs to have the x and z elements swapped in the position variables?
Would someone help me out please? What I am missing? Please see the attached photos.
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I tried to program today:
GETS PX005 $PX001 ........to get current position and store it in P005
SETE P006 P005 (3) ........to get the Z position from P005 and store it in P0061. The above I could not type in with the teach pendant. Is it even possible to do this or is it even a valid command format?
I used instead of the above:
GETS PX005 $PX001 .......to get the current position and store it in P005
GETE D000 P005 (3) .......to get z position from P005 and store it in D000
SETE P006 (3) D000 .......to set the z data from D000 and place it in z data element location on P006.This seemed to work....I think. Is this a proper format? Would this make any position errors?
Thank you -
I am writing a program and am would like to use:
P000
P001
P002
P003For variables.
My question is: Can I have data in P001 and use the command:
GETS PX000 $PX001 to get the current robot position without messing with the existing data in P001?
Is $PX001 unrelated to PX001 the position variable?
Should I instead use the variables:
P000
P002
P003
P004 ? -
So based on the above information one can conclude IT CANNOT BE DONE with a simple one line input like:
SET P015 50,25,75,0,0,0
Each element entry needs a seperate program line (one SETE for each element). Correct?
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Thanks for the reply.
What I mean by not driving the robot to the exact location is I would like to write the program in notepad as I know the coordinate positions.
What I was really trying to ask in the first post was, can I enter all the position data in one command line like:
SET P015 x=50mm, y=75mm, z=15mm, Rx=0, Ry=0, Rz=0
Can the data be entered some way similar to that above or do I need to have six separate SETE commands to enter the above 6 data positions?
It doesnt' seem very practical to have to enter six SETE's just for one position.
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I would like to define locations for position variables in a program. For example, i would like to save x=50mm, y=75mm, z=45mm, etc and for rx, ry, rz into position variable say P015. What is the best or easiest way to do this without driving the robot to the exact location? I believe I must beforehand set P015 as a robot coordinate (for the xyz) system vs pulse counts to let it know I am "talking" in xyz vs pulse, right?
Do I or can I then even use:
SETE P015(1) 50 - (to set 50mm in x)
SETE P015(2) 75 - (to set 75mm in y)And so on for the other elements
I am hoping I could do it in one command line instead of using so many SETE's.
Thanks -
95devils,
It is as you said. Thank you very much!
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Hello, I am trying to insert an IF statement in a program I am trying to make using the teach pendant. I find AND OR etc but not IF in the Inform pulldown menu instruction list. Would someone please tell me where to find it? I have the Expanded Instruction set on. thank you, Dan