February 17, 2019, 08:11:44 AM
Robotforum | Industrial Robots Community

 How to get the next destination point

Author Topic:  How to get the next destination point  (Read 389 times)

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January 28, 2019, 06:32:17 AM
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Jonson


Hi guys,

I want to get the taught point in advance of moving to this point.
For example, I have a program like shown bellow.

MoveL C00000 V=10
MoveL C00001 V=10
MoveL C00002 V=10
MoveL C00003 V=10

When the robot is moving to the C0000, I can get the position data of the C00000, also, when the robot is moving to the C00001, I can get the position data of the C00001. I want to implement this without modifying the INFORM, it can run in the background task or in the motoplus.

Is there any function in motoplus can achieve this? Or is there any system variable I can read out this data? Or any other method?

Thanks a lot in advance.

Today at 08:11:44 AM
Reply #1

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February 02, 2019, 12:55:36 PM
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Robodoc


The only way to do this is to make your program in position variables.  This way you know where each position is in either pulse or X,Y,Z.
Robodoc

February 03, 2019, 06:51:57 PM
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95devils


Depending on generation you could use the GETPOS job instruction.  You may also be able to use the M-registers that have the pulse count values or the tcp position.
Alcohol:  The cause and solution to all life's problems

February 11, 2019, 04:06:16 AM
Reply #3
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Jonson



Yes, if using the position variables, I can calculate the current position in motoplus, but the number of the position variables is not enough for using, even if I extend to 1024.

February 11, 2019, 04:13:13 AM
Reply #4
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Jonson



If using the GETPOS instruction, I must modify the JOB program and insert so many GETPOS.
What's the M-registers. Where I can find it? Can I read the next point in this register?

February 11, 2019, 02:06:08 PM
Reply #5
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95devils


M-registers are a 16-bit variable used in the concurrent i/o ladder.  Depending on the generation of the controller there are M-registers that contain the current position of the robot in pulse or XYZ.

MotoPlus, how about the mpGetJobStepData API.

February 12, 2019, 12:55:53 AM
Reply #6
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Jonson



I can't find the mpGetJobStepData in the reference manual, there is only mpGetJobData whose name like what you said.
The mpGetJobData can only get the job name and the system time. Where you can find the API you said?

Today at 08:11:44 AM
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February 14, 2019, 01:29:24 PM
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95devils


I found it in a manual on Motoman's website.  It's part number 178939-1.  MotoPlus New Language Environment, Programmer's.

Yesterday at 12:57:33 AM
Reply #8
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Jonson



Yes, I have find it in this manual who is for Motoplus YRC100, but there is just in a list, I can't find any detail for this API include in the manual and samples found in the Motolus YRC1000.

Maybe we are a step closer to the truth.

Thank you very much.


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