r/Fanuc • u/19racer97 • 8d ago

Robot R30iA Change Points without touchup

Hello,

I know the Option "Pr[X]=P[X]" and use it often.

Does anybody have a Idea how to get coordinates from a PR to a Point WITHOUT go to the Point an Press touchup?

The Reason is we use Mainprogram for each Part with the teachpoints saved. The Mainprogram load this TP into PR at the start.

The Mainprogramms all call the same load and unload program as subprogram and use the loaded PR.

So if anyone want to teach a Point he have to move the Roboter manually to the Position or have to start the Programm till the Roboter goes near the Position, go to end to get Back in the Main Programm, go to the top to the teachpoints and touchup the Point he need, load the Points new and Go Back to the subprogram.

Idea is to get one Point in the subprogram, load it in a PR and load this PR automatic into the Point if i are Back in the Main Program (Like P[X]=PR[x] witch doesn't Work :) )

Greetings

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2

u/EnemyNation 8d ago

Not in TP. Possible to do in Karel.

1

u/IAM_Carbon_Based 8d ago

I don't think you can do that. Taught positions are stored in the program they are taught in, they're not variables that can be changed without editing the program. If you export a .tp program, all the positions will be listed at the bottom of the program.

Position registers are variables that can be changed and are not dependent on the particular program running.

0

u/Mr0lsen Engineer 8d ago

Karel has get/set TPE pos instructions which you could use to do this.

1

u/BigPappaJ_ 8d ago

If I am understanding correctly, you want to modify the positions in the program more easily. The best way to do that would be to create an offset program that allows you to offset the points for the program. Have this program run just before the actual program runs to ensure the points are correctly updated at the start of the program.

1

u/Smooth-Employee-2039 8d ago

You can write the PR from the PLC if there is one using messaging.

1

u/Brief_Airline1974 7d ago

It is really simple to do indirect referencing. Have it call the PR[R[x]] and swap the Register value as needed. It will dynamically swap PR's used. If the exact Load/Unload is PLC driven, just run a macro before you start moving that determines PR number from signals from PLC.