OK.
I solved my problem.
At first, I wrong understand how works offset, in FANUC robots. In offset PR I must get only vector in axis who I want move.
In my wrong example program. I gave all position XYZWPR and added -100 to axis Z. When robot go to line with offset. He had added to value normal point position any position offset point. From this is "Position not reachable".
When I understand my wrong, I made new program who works fine:
Code
1: UFRAME_NUM=1 ;
2: UTOOL_NUM=1 ;
3: ;
4: PR[GP1:5,1]=0 ;
5: PR[GP1:5,2]=0 ;
6: PR[GP1:5,3]=(-100) ;
7: PR[GP1:5,4]=0 ;
8: PR[GP1:5,5]=0 ;
9: PR[GP1:5,6]=0 ;
10: PR[GP1:5,7]=0 ;
11: ;
12: OFFSTE CONDITION PR[5] ;
13: ;
15: L P[3] 100mm/sec FINE ;
16: L P[1] 100mm/sec FINE ;
17: L P[1] 100mm/sec FINE Offset;
18: L P[2] 100mm/sec FINE ;
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p.s.
I do not know why, when I give
position from WPR dont make "0", but position from XYZ make "0"