Hello,
is there any way to get the currently set PCS (product Coordinate System) of a running cnc-Program ?
Of course it is possible to save it from the CNC-Program to the PLC, but this is not a very nice implementation.
Thank you.
Best Regards,
Alexander Apostolidis
Hello,
I understood that you are looking for the Name of the Frame which has currently the Property “PCS” and is used for the current Path-Geometry.
Modified Value after usage of SET_PCS
I am currently not aware of a functionality which provides you this access, to real time Data.
To use a PathSynchronous PLC Variable in the CNC Program is the best Alternative-Solution i know to this.
Some hints to the use of AIL: The given Parameter to SET_PCS is a Frame-Constant not a String, so you do not have access there to a name, but only to a Number-Referencing the Frame.
Lets Wait for the ideas of other Members.
The first way is to look if a ProcessParam would be available… but in this case we only have a ProcessConfig. → No Access to real time data.
Next Section to look at are the Monitoring Elements → No Access to this data.
Next Section to look at are the PLCopen Functionblocks for the AxisGroup → No Access to this data.
Greetings
Michael
You could give MC_BR_TransformPosition a try:
Try to use the Parameter.Component input to set the axesgroup and transform a zero position from MCS to PCS (or vice versa) to compute the distance between the two frames.
Let us know if it works pls.
Hello Roland,
Thanks for the Input, i only thought about the name, but yes you are right, the Offset Values can be aquired.
Default Hierachy was used.
%001 (CncProgram)
G04 10 (offset = 0)
G92 X=100
G04 10 (offset = -100)
SET_PCS[SystemFrame1]
G04 10 (offset = 0)
N999 M30
1. Start, no offesets in Hierachy
2. Offset in G92 (ProductFrame)
3. Move Property PCS to SCS1 (SystemFrame1) , Value in G92 is still active in (Product Frame)
Greetings
Michael
Hello Roland,
thanks a lot for your idea. That is solving the problem.
As we know all offsets for all possible Coordinate systems (stored in a structure), we can search the correct Coordinatesystem by comparing the output of the FB and the Offsets in the Coordinatesystem-Array.
Thanks again,
Best Regards,
Alexander
Hello Michaels,
thanks for your ideas :).
Have a nice day,
Alexander
Hello again,
sadly this Function Block is only available from mappMotion 5.25.
We are currently locked with 5.21, so I can not use this Function Block.
any other ideas ?
Regards,
Alexander
It is also possible to get the offset by reading the current position (readcyclicposition-FB) in MCS and PCS and then calculate the offset on your own.
A little bit more effort needed here.
Regards,
Alexander
Some more information, as I had troubles implementing this (without MC_BR_TransformPosition FB):
Regards,
Alex
Hello again,
sadly also the solution with a pathsync-variable has its limitations.
At least this is what we experience with our project.
In rare cases the pathsync Var is set before the Blocknumber of the SET_PCS-Cmd is executed.
This results in wrong information, that we use to restart a robotprg from a given (last executed ) Blocknumber with a given (last active) PCS.
Anybode experienced the same issues ?
To give some more detailed information here is the part of the CNC-Prg where this concept does not work:
N100 SET_PCS[PickCoordinate1] sPrgRestartPCS = “PickCoordinate1”
…
N151 CONDITIONAL_STOP 150 (Stop in Postpick conditional)
N155 G01 Y= m265_PreGluingY Z= m265_GlueZPick A= m265_PickRotX SL1 = m265_PickToolOrientation F = FMax (MOVE TO POSTPICK POSITION)
N200 SET_PCS[PlaceCoordinate1] sPrgRestartPCS = “PlaceCoordinate1”
N202 FMax = m265_Velocity * 60.0
The saved Blocknumber is N155 and the saved sPrgRestartPCS =‘PlaceCoordinate1’, even if Block 200 was not yet executed. The correct Information would be sPrgRestartPCS = ‘PlaceCoordinate1’.
When restarting the robotprg with this information, the robot returns an out of workspace-error, because the wrong PCS is selected.
Thanks for your tips.
Regards,
Alexander
