I tried
11 : PR[25]= LPOS-LPOS
12: PR[25,1]=(R[166:OffsetX]) ;
13: PR[25,2]=(R[167:OffsetY]) ;
14: PR[25,3]=(R[168:OffsetZ]) ;
and it worked. Thank you for all sugestions.
I tried
11 : PR[25]= LPOS-LPOS
12: PR[25,1]=(R[166:OffsetX]) ;
13: PR[25,2]=(R[167:OffsetY]) ;
14: PR[25,3]=(R[168:OffsetZ]) ;
and it worked. Thank you for all sugestions.
that sounds like good idea I will try this tomorrow. Thanks for the help
I got it to work however i don't understand why.
This is what I was doing before.
-before executing my routine I RECORD PR(25) with robot at home , than manually entered 0 in x,y,z,w,p,r.
-I also tried CLEAR PR(25) * was showing instead R than execute routine like
12: PR[25,1]=(R[166:OffsetX]) ;
13: PR[25,2]=(R[167:OffsetY]) ;
14: PR[25,3]=(R[168:OffsetZ]) ;
15: PR[25,4]=(0) ;
16: PR[25,5]=(0) ;
17: PR[25,6]=(0) ;
It also failed
-than I tried different PR(27) and did not RECORD PR(27)=*
-executed routine like in the picture and it worked
I tried both as REAL number (6c) and DINT (6b). I am going to try lower registers.Thanks for the suggestion.
Thank you for trying to help me
This is the code. I also attached the picture of the teach pendant when the fault happens. The fault is INTP-204. I will also attach in the next 5 responses pictures of PLC logic. I appreciate any help
1: ;
2: DO[336:GetRegValues]=PULSE,0.5sec ;
3: ;
4: WAIT DI[336:RegWriteDone]=ON ;
5: ;
6: DO[335:SendRegValues]=PULSE,0.5sec ;
7: ;
8: WAIT DI[335:RegReadDone]=ON ;
9: ;
10: WAIT DI[334:RegCalcDone]=ON ;
11: ;
12: PR[25,1]=(R[166:OffsetX]) ;
13: PR[25,2]=(R[167:OffsetY]) ;
14: PR[25,3]=(R[168:OffsetZ]) ;
15: ;
/POS
/END
I am electrician at Ford not a robot programmer.
I am trying to Offset robot position with PR
something like this
L P(x) 100mm/sFine OFFSET PR(z)
To do this I am loading values from PLC via MSG instruction directly into Registers
When Registers get loaded i have something like this
R(10)=value1
R(11)=value2
R(12)=value3
Then
PR(x,1)=R(10)
PR(x,2)=R(11)
PR(x,3)=R(12)
Values in PR(x) for w,p and r are 0. I am only trying to manipulate x,y and z.
When Robot executes line PR(x,2)=R(11) or the next line I get INTP-204 alarm.
I have tried to configure value1,2,3 as a REAL number and as DINT always the same results. Seems like i am able to load Registers just fine but can't use them to manipulate PR. When I use different set of registers and hand enter the values directly into them It works fine.
Anybody has any ideas.