General questions » 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?

#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):

1
2
3
4
 
      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.

#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

#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:

1
2
3
4
5
 
:
LAPPRO ponto1, 500
BREAK    ; Stop forward pointer and wait until movement finished
HERE ponto2
:
 

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

Thank you it worked

Posts:	326
Date registered	12.20.2019

Posts:	326
Date registered	12.20.2019

HERE

RE: HERE

RE: HERE

RE: HERE

RE: HERE

Please enter a reason for warning.


	K-IDE support forum Find all information about Kawasaki's Integrated Development Environment