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HERE

#1 by wekker , Tue Nov 02, 2021 1:13 pm

hello,

I'm with some problems saving the position of the robot during a cycle.
How HERE instrutions work?
Can some one show me an example?


wekker  
wekker
Posts: 5
Date registered 07.20.2021


RE: HERE

#2 by cquante , Wed Nov 03, 2021 7:02 am

Dear Wekker,

Zitat von wekker im Beitrag #1

I'm with some problems saving the position of the robot during a cycle.
How HERE instrutions work?


The HERE instruction moves the actual position or axis values into a position variable (HERE <pos>). There's also a HERE function that acts like a "system variable" containing the actual position or axis values (#HERE). The functionallity is very simple: it's the actual position value when calling the instruction or function.
Zitat von wekker im Beitrag #1

Can some one show me an example?

You can see one example of using the HERE instruction in the program "GoHome" in the KRG template (File/New). Another example of using HERE as a function or "system variable" is the following (from a meassurement program):

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      IF DISTANCE (HERE, DEST) <= 1 AND NOT .finish THEN
.finish = TRUE
MessErr = TRUE
END
 


The most confusing thing when using HERE in a robot movement cycle is the existence of the forward pointer. If you look into the GoHome program you'll see that the robot's movement will be stoped before using the HERE instruction. The example code above is used in a loop. If you call the HERE instruction while the robot arm is moving you should take care about the values you receive.


Christian Quante
Technical Sales
Sales Department

Kawasaki Robotics GmbH
Rheiner Landstrasse 195A • 49078 Osnabrück
Germany


 
cquante
Posts: 281
Date registered 12.20.2019


RE: HERE

#3 by wekker , Wed Nov 03, 2021 9:33 am

Thank you

I attached a picture of a simple programme for what i need.

I move the robot to point "ponto1"
Then move to a point 500mm up the "ponto1"
And then i want to save this new position on "ponto2"
Move to point "ponto1" again
And finally move to "ponto2" it shoud be equal to "ponto1" up 500mm

This last step don't happens the robot don't move

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 Screenshot_1.png 

wekker  
wekker
Posts: 5
Date registered 07.20.2021


RE: HERE

#4 by cquante , Wed Nov 03, 2021 10:57 am

Hello,

Zitat von wekker im Beitrag #3

I attached a picture of a simple programme for what i need.

I move the robot to point "ponto1"
Then move to a point 500mm up the "ponto1"
And then i want to save this new position on "ponto2"
Move to point "ponto1" again
And finally move to "ponto2" it shoud be equal to "ponto1" up 500mm

This last step don't happens the robot don't move


After you start "LAPPRO ponto1, 500" then you save the actual position to ponto2. So in fact you'll find your new position (ponto2) will be very near to ponto1, because the position is saved while moving upward. In your case you need to wait until your LAPPRO movent finished. To do so, you need to insert a BREAK right before saveing the position like that:

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:
LAPPRO ponto1, 500
BREAK ; Stop forward pointer and wait until movement finished
HERE ponto2
:
 


Christian Quante
Technical Sales
Sales Department

Kawasaki Robotics GmbH
Rheiner Landstrasse 195A • 49078 Osnabrück
Germany


The following user say thank you: wekker
 
cquante
Posts: 281
Date registered 12.20.2019


RE: HERE

#5 by wekker , Wed Nov 03, 2021 5:04 pm

Thank you it worked


wekker  
wekker
Posts: 5
Date registered 07.20.2021


   

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