Posts by chris_d_jcd

    Hi JoanM,

    I cannot comment on the adjust robtargets function, but what I can say is that wobj0 is a zero offset frame and is a default setting in the robot system and i believe it cannot be modified. Therefore, your robot program is not related to any frame at all and only relative to the robot itself. How will you calculate the new frame then??

    The preferred way to do this is to use a measured TCP and choose 3 reference points around the fixture which would then define an origin point and the X, Y and Z direction of the workobject. Document where the points are and how the workobject was defined. All the robtargets would then be taught using that workobject.

    When you move the machine to it's new location, the programmer or technician would redefine the workobject using the method as you have documented and then all of the robtargets will work.

    If you have not yet moved the machine, I would recomment doing this and use the robtarget adjust feature to bring your robtargets in line with the new workobject. Don't forget to document how you meassured the workobject.

    I hope this helps, good luck.

    Hi Dodo41,

    Firstly, these are not commands as such, they are declarations. You can declare a robtarget or jointtarget as CONST or PERS by giving it a name and then then appropriate elements that agree with the declaration type;

    Robtargets are [[X,Y,Z],[q1,q2,q3,q4],[cf1,cf2,cf3,cf4],[eax_a,eax_b,eax_c,eax_d,eax_e,eax_f]] and these are affected by TCP and frame offsets.

    Jointargets are the joint angles for each axis and defined as [[rax_1, rax_2,rax_3,rax_4,rax_5,rax_6],[eax_a,eax_b,eax_c,eax_d,eax_e,eax_f]]. These are not affected by TCP and frame offsets.

    CONST means Constant and normally these are fixed values and cannot be modified, although you can Modpos a position on the pendant which is defined as CONST.

    PERS means Persistent and these values can be modified by a program.

    If you do not wish to use robtarget names, you can record them in your program as "*" whereby the declaration is within the MoveJ or MoveL instruction.

    On the teach pendant in the Jogging window, you can view the current robot position. Switch the logging mode between Linear and Joint, the position display will switch between cartesian and joint coordinates.

    I hope this helps

    If the DCS Menu was disabled by default I would guess you don't have the option.

    Has anybody tried to use the system variable: $MOR_GRP[X].$ROB_MOVE ? Watching it on a running robot seems to match what you're looking for, and I am able to use the parameter in TP instructions.

    Yes, this works. I have this running in BG-Logic (Background task) which signals to a PLC that the robot is in motion.


    Did you perform FCTN > Cold Start after changing the value?

    Yes I did that.

    I have found a workaround actually. I created a backup of the robot and then created a new identical robot from that backup. The new robot has the required number of UserFrames, so I am working with that one now.

    Thanks for your reply


    I am using RoboGuide and wondered how I can increase the number of UserFrames beyond 10. I have increased it on the robot pendant in the Program Limits menu under Controlled Start.

    So the virtual robot has the desired number of UserFrames however, this change is not reflected in RoboGuide and I have no idea how to change it. I have tried restarting the robot and also restarting RoboGuide, to no avail.

    Any ideas?

    Thanks in advance

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