Dynamic coordinate system

[corto]

Dear all,

 

I am trying to setup a dynamic coordinate system, which is able to make a compensation for moves due to external factors such as misplacing of the device on the ground.

 

What I tried is to do something like this:

#1-> X + P1000

#2-> Y + P1001

 

,where P1000 should be an offset for motor 1, and P1001 is an offset for motor 2.

 

I am getting error when I try to make a coordinate system in above described procedure.

 

What is the best way to make actually "dynamic" offset for motors. I prefer to do it by changing the coordinate system, and avoiding adding offsets directly to each move I want to perform with predefined motion programs.

 

Thank you in advance.

[Omron Forums Support]

You can use Kinematics to do dynamically changing axis definitions. Please refer to pages 259 and following of the Turbo PMAC User Manual.

 

If you want a simpler solution, however, you can use PSET. From page 439 of the Turbo PMAC User Manual:

 

 

Or, you could manually write to Mxx64 (Motor #xx Position bias (1/[ixx08*32] cts)) and then issue a PMATCH command (from page 365 of the Turbo PMAC User Manual:

 

[corto]

Thank you CharlesP,

 

I will try both solutions.

 

[Sina.Sattari]

Dear all,

 

I am trying to setup a dynamic coordinate system, which is able to make a compensation for moves due to external factors such as misplacing of the device on the ground.

 

What I tried is to do something like this:

#1-> X + P1000

#2-> Y + P1001

 

,where P1000 should be an offset for motor 1, and P1001 is an offset for motor 2.

 

I am getting error when I try to make a coordinate system in above described procedure.

 

What is the best way to make actually "dynamic" offset for motors. I prefer to do it by changing the coordinate system, and avoiding adding offsets directly to each move I want to perform with predefined motion programs.

 

Thank you in advance.

 

corto,

 

Please read the section called "Axis Transformation Matrices" in Turbo PMAC Users Manual.