120
2. Select instruction
→
other instructions
→
SET_TOOL/SET_FRAME.
3. Click the "SET_TOOL/FRAME" input box and enter the tool or workpiece number.
4. Click the "LR" input box again and enter the LR index number.
5. Click the "OK" button to complete the instruction addition.
The range of X in UT[X]/UF[X] is 0-15, corresponding to tool
number/workpiece number respectively. If it is not in this range, an error
will be reported when running to this line: invalid tool number/workpiece
number.
19.9 Offset instruction
19.9.1 Absolute motion command
Explanation: Absolute motion is compensated in the fixed point position information of the
robot. According to actual usage requirements, it can be divided into position compensation and
tool compensation. Among them, position compensation is performed in the user coordinate system,
and tool compensation is performed in the tool coordinate system.
19.9.1.1 OFFSET position compensation command
Explanation: Position compensation commands are divided into conditional position
compensation and direct compensation.
Remarks: As in the above program, the program assigns JR[2] to the global position offset, and
moves to JR[0] point in turn (without OFFSET, no offset). When the last line is executed, it will
move a new offset Shift the compensation position, namely JR[3]=JR[1]+JR[2] (with OFFSET, and
the value of OFFSET CONDITION is JR[2]).
Example of conditional compensation instruction:
OFFSET CONDITION=JR[2]
‘
Define the global position compensation
amount.
J JR[0]
‘
Correctly move to JR[0] coordinate position.
J JR[1] ,OFFSET
‘
JR[1]+JR[2] moves to a recalculated position.