I would like to run payload identification, but I have fairly large effector and very small cell. It can be executed only in AUTO, but I want to test it in T1 first with limited speed, since I don't know what kind of motions I can expect. Is that possible?
Posts by PetrBroza
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Does it work in Roboguide? I just tried it in RG, since I'm not close to real robot, but code giving me error "INTP-254 Parameter not found" and when I'm typing code, it displays "Invalid parameter name".
It works if used in IF statement, but then I can't run this task as BG logic, it gives error "INTP-203,2 Variable type mismatch)
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With Space function you define a box and if EOAT (TCP) is present in this box, it will set assigned DO.
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That's ridiculous, given that there is just 100 PR. Thanks for answer tho
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Is there way to convert posreg.VA back to posreg.VR? I've tried to import it into OlpcPro, but it does not recognize VA file
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Correct, at beginning is crucial. Yes, there is no TIME/DISTANCE AFTER.
Just one register, where number means last PR point, which robot came through.
I've tried to explain it on the image. When robot is going inside it setting numbers 100 when reached point P1, 200 when reached point P2, 300 when reached point P3. But when robot is going back through same points, I have to set number for previous point, so it's 100 when reached point P2 and 0 when reached point P1. Reason is, if robot is stop mid way, I called home routine (on the right)and robot based on register go to home pos shortest way.
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That's not really important.
Original question was, if there is a function, which can set register at beginning of the motion.
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Thanks for all answers, but that's not what I'm asking for.
I'm already using PR register and case statement (SELECT). DB works fine with CNT 100. I can't set register straight (R[1]=100), because look ahead pointer.
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Yeah, I can do it this way, I just want to make a program as simple and readable as possible, so I want to use same number when going inside and outside (I'm using same points for going inside and back outside).
I try to explain it on the image. If I going to use DB 0, so P1 have number 100, P2 200, P3 300. But When robot is going back through the same points, suddenly P2 have number 100 and P1 0 for example, which will be very confusing for maintenance. I could continue counting up 400,500 etc. but in real program I have way more points, so I would have to write way more code.
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I want to set number to register when motion begun, so then if someone stop the robot midway and press go to home button, based on this register, I know where robot started and I can select correct path back to home.
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Distance before is also limited by distance, I believe 1 meter...
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Hi, is there any function, to set register at begging of the motion? Same as TRIGGER WHEN DISTANCE=0 on Kuka.
I could use TIME BEFORE with function call (L PR[1] 100mm/sec CNT100 TB 30.00sec, CALL setreg(1)), but upper limit is 30 seconds, which could cause issues for slower movements.
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I made mistake when pasting code in the forum, code in controller is correct.
Error disappeared after restarting controller and I'm not able to replicate it again.
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Great idea, I didn't know that you can read current tool ($MNUFRAMENUM[G] / $MNUTOOLNUM[G] where G is group number).
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Agree. Can I force Diag_GRP[1].CUR_TCP to use certain tool and frame, or it's just using current tool/frame?
For example on ABB, you can specify tool and frame for getting LPOS, so it doesn't matter if someone chose wrong tool.
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I see one problem with Diag_GRP[1].CUR_TCP. If someone change the tool or frame for whatever reason, it will give false results.
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That's what I'm saying
I have PR[100]=LPOS command, but it's giving me "INTP-311 Uninitialized data is used" (there were data in PR[100] before anyway).
Thanks for great explanation of groups. I do have 1 robot and masking is set correctly (1, *, *, *, *, *).
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Does $DIAG_GRP[1].$CUR_TCP_X work when robot is jogged? Somewhere else on the forum someone mentioned that it only works in auto.