Posts by MoEL

    Thank you, but I think my question was not clear enough, I need to move the UF 100mm along itself axis, so the new origin in world coordinates will not be current coordinate + 100mm because of the rotations wpr.

    Not clear whether you want to do it manually or programatically.

    If programatically, will you allow robot movement for that, and is the frame origin physically reachable?

    I need to do it programmatically.

    And I understand your point, by moving the robot at needed point in the UF, and then get its world position with LPOS, this should work but is it passible without moving the robot, with some calculations?
    and yes, the UF origin is physically reachable.


    I have a UF, lets say at X: 1000, Y: 1000, Z: 1000, w: 15deg, p: -27 deg, r: 128

    I want to offest 100mm this UF along itself axis, so I need to find the new coordinates XYZ that will be the result of this Offset, wpr will stay the same.

    Any idea of how to do that easily?

    Thank you very much.

    This is a master class explanation,
    Thank you all

    Easiest is to enable collision detection and have it set a DI or RI whenever an EOAT CAD-model (or the robot itself) touches something. Then use this DI or RI as the monitored signal for the Touch Sense.


    Thank you for you answer,

    Could you please tell me how to enable "Collision detection" and the DI event of the collision?

    Thanks again


    I am creating a touch sensing routine and in the Schedule I set "Auto return = ON" but it does not do the auto return to the previous point as expected. it goes to the next point in the program instead of going back to prevous point.

    What could be the reason?


    I did waterjet cutting for 10 years. Your solution is positive location of the tool or fixture. I've worked on rotating walls too. Mostly working with soft parts or door panels which is another issue in itself. Fanuc does have software that will find your fixture and adjust the program. It involves touch sensing. It's different than the welding as it doesn't use a 24v circuit. It uses the feedback created on the motors. This tech was rock solid 20 years ago. We would run the touch sense program on a tool change and that would get us very close usually some minor touchups. The software is called cell finder. The cell finder software also included tcp which uses a plate with a hole. The program would touch the plate in several different ways to generate a TCP . You could also use this software to master the robot. All these things are important to maintain high accuracy cutting. In the end, it's all of maintenance and setup. Thing have to be done correctly or it's all a waste of time.

    Hello ROBOT_G

    I am interested in the Cell Finder software but I couldn't find any info about it in the net.

    Do you have a link where I can get some info?


    Thank you all for your answers,

    I found the Babylonian method for finding a square root.

    Here is the code for it:

    double sqrt(double number)
    {    double error = 0.00001; //define the precision of your result    double s = number;
        while ((s - number / s) > error) //loop until precision satisfied     {        s = (s + number / s) / 2;    }    return s;

    now i will do some tests and compare between this ans sqrt fonction in karel lanuage to see if this is enough for my application

    Thank you again