Posts by gundersen88

Yes, this is ARLA, it's an S3 system. I think this robot is older than me...

Had some progression by myself, just practising with the robot.

the VERKTREL is a simple movement function, it moves the tool on the robot in just one plane, so DY (delta Y) 300 (mm) keeping the orientation.

but I manage to store positions, by moving the robot to were I want it. And using the "LAGRA P" (Store Position) and gave it a number.
later in another program, I can now use this with " POS POS". but need to store all the positions in a separate program, and runt this on start up. If not, the program wont “remember “ where this is.

The controller is a M92

And the code itself is in Swedish, but line 410 and 540 uses find position. I have studied the code a bit more, and I think the robot defines these positions in an earlier point in the sequence, so maybe that’s the only way? or is there another function that let me pre store positions so that I can use them wherever I want in a sequence?

Thank you so much for taking your time with this!

410 POS H=5% FIN POSITION152
420 ST[LL UTG2
430 V[NTA 0.5 S
440 ST[LL UTG1

450 V[NTA 0.5 S
460 POS H=80% FIN VERKTREL DY=400
470 V[NTA 2 S
480 S[TT R5=3
490 S[TT R3=0
500 POS H=80% BANA
X=1344.5 Y=-817.9 Z=1397.5 MM
A=-110.8 B=138.4 C=9.5 DEGREES
510 RETUR
520 POS H=100% BANA
X=1765.5 Y=-955.8 Z=907.3 MM
A=-39.6 B=89.3 C=-0.4 DEGREES
530 POS H=50% FIN
X=1760.8 Y=-958.6 Z=484.4 MM
A=-39.6 B=89.3 C=-0.4 DEGREES
540 POS H=5% FIN POSITION153

Hi

I'm currently doing a bachelor’s assignment for a company, where I’m to restructure the program on a ABB robot.
and I want to use a function called "pos pos" (manual is in Swedish, so i don’t know what else it's called)

in the area of the robot I see some of the programs already use this function, ex. find pos 10. so the robot can have pre stored positions, where I now want to change this position from where it was to a new location. the manual is not very clear on how to do this. Anyone have experience with this?