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[[File:Position Register.png|thumb|500x500px|This is the Position Registers type on the DATA screen.]] |
[[File:Position Register.png|thumb|500x500px|This is the Position Registers type on the DATA screen.]] |
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A position register is listed as PR[#] and contains positional data in six separate elements. Position registers can handle 6 elements, representing 3 dimensional measurements and 3 angular measurements in the Cartesian coordinate system. They can also contain Joint configurations, with each element representing the angular position of each robot joint. |
A position register is listed as PR[#] and contains positional data in six separate elements. Position registers can handle 6 elements, representing 3 dimensional measurements and 3 angular measurements in the Cartesian coordinate system. They can also contain Joint configurations, with each element representing the angular position of each robot joint. |
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When opening the DETAIL page for a specific position register, you can switch between Joint and Cartesian representation by hitting the softkey [REPRE]. |
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<u>Cartesian</u> |
<u>Cartesian</u> |
Revision as of 20:29, 21 July 2019
HI! You've reached a page that is in progress. Currently, this page serves as a dumping point for materials, ideas, resources, links, and media. Eventually it will be organized into a proper wiki page like the rest of the site. Check back soon! - May 7th 2019
This page details data structure and types used in the FANUC TP programs. For the use of data for directing program flow, see Registers.
FANUC's software handles data in variables known as "Registers".
DATA Screen
From the teach pendant, the DATA screen can be accessed with the DATA button. It can also be accessed via MENU, selecting the Data option.
The DATA screen lets you view and modify contents and metadata for registers.
[TYPE]
- Registers
- Position Reg
- MOVE_TO - Pressing this while shifted will move the robot to the coordinates stored in the selected position register.
- RECORD - Set the position registers values to the current position of the robot. Must have SHIFT pressed beforehand.
- POSITION - Open up the position register's contents to view and edit individual elements.
- CLEAR - De-initialize the register. This clears all contents, loading them with NULL values. This is different from values of zero, as the NULL contents won't allow the position register to be used in a program.
- String Reg
- Vision Reg
- Pallet register
- KAREL Vars
- KAREL Posns
Register Types
Register Type | Label | Range | # Of Elements | Type of Data Allowed |
---|---|---|---|---|
Register | R | 1 | Numeric Values | |
Position Register | PR | 6 | Position Values - Cartesian or Joint | |
Pallet Register | PL | 3 | Position Values - Cartesian |
Registers
A register is listed as R[#] and can contain an integer. This is good for math equations, counters, single dimension data handling, and temporary storage registers.
Position Registers
A position register is listed as PR[#] and contains positional data in six separate elements. Position registers can handle 6 elements, representing 3 dimensional measurements and 3 angular measurements in the Cartesian coordinate system. They can also contain Joint configurations, with each element representing the angular position of each robot joint.
When opening the DETAIL page for a specific position register, you can switch between Joint and Cartesian representation by hitting the softkey [REPRE].
Cartesian
P[n] = (x,y,z,w,p,r,configuration) – configuration describes axis condition at destination. Wrist could be N (not-flipped) or F (flipped), elbow could be U (up) or D (down), robot could be T (Front) or B (back)
Joint
P[n] = (J1, J2, J3, J4, J5, J6)
Initialization of Position Registers
Position registers must be initilized before they can be used in running programs. To initialize a position register, open the DATA screen, change [TYPE] to Position Reg, and select your desired position register by cursoring to it. Hit the softkey POSITION to open up that position register, and enter values. All six elements must contain values for the position register to be valid, even if those elements aren't used or contain zeroes.
Pallet Registers
A position register is listed as PL[#] and contains positional data in three separate elements.
Videos