Data: Difference between revisions

|Position Values - Cartesian

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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.

 

[[File:Position Register.png|thumb|500x500px|This is the Position Registers type on the DATA screen.]]

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.

P[n] = (J1, J2, J3, J4, J5, J6)

 

A common useful process is using the DATA page to quickly take the robot to the predetermined HOME location. On the Position Registers page, select PR[1: HOME], clear all alarms, hold SHIFT and press the softkey MOVE_TO. Continue holding SHIFT until the robot moves to its HOME position.

[[File:Position Register POSITION.png|thumb|500x500px|This is a Position Registers values on the POSITION screen.]]

 

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.

 

A position register is listed as PL[#] and contains positional data in three separate elements.

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