program displacement on IRC5

Robot Controller
1

Im using a IRB2400L and am welding with a frame jig, now I havereplicated 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.

2

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

Such as:

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;

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.

3

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