program displacement on IRC5

spiney
spiney ✭
in Robot Controller


Im using a IRB2400L  and  am welding with a frame jig, now I have replicated frame jig 3 times. I have a program for my first jig, how do I do a program displacement on IRC5 for the other jigs without rewriting the whole program.Any help would be very appreciated.

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  • USLuser1
    USLuser1 ✭
    You can enable a program displacement by using PDispSet *; command. 

    Such as:
    [code]VAR pose FrameJig1:=[x,y,z][q1,q2,q3,q4]
    VAR pose FrameJig2:=[x,y,z][q1,q2,q3,q4]
    VAR pose FrameJig3:=[x,y,z][q1,q2,q3,q4]
    .
    .
    .
    !//Decide which FrameJig you are using
    PDispSet FrameJig1;
    !//PDispSet activates a frame which is relative to the object coordinate system
    PROC MovementRoutine()
         ...
    ENDPROC
    !//PDispOff deactivates any displacement frames
    PDispOff;
    [/code]

    Only one program displacement can be used at a time.  In your case, all you need to do is define the FrameJig1,...,n, using the pose datatype.  Then just call the corresponding FrameJig for your operation.


  • spiney
    spiney ✭


    Excellent, Thank you very much that's exactly what I was trying to do.

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