I have implemented a URScript program which uses three teached poses. All other movements are done relativly to those positions. Due to mechanical tolerances those poses slighty differ from one setup to another. Because of that the teached points need to be re-teached which is impractical when updating the program remotly. Is there a way to move those points to a dedicated files or something so that i can only update the main program? I am using scripts already but i need to teach those points with the control panel. Any help would be appreciated.
Try creating a new INSTALLATION file with each setup. Most use the “default.installation” with each program but like you said those positions are always in that installation file. If you create a new installation for each program you can store those three positions as features in the installation and then save the program with a new name. Note: if you create a new installation and save with the program, when you open the program the installation that is tethered to the program should open with it. Below is how you might save both “programs.URP” and “installations.INSTALLATION” for different setups:
program_1.urp (setup #1, 3 position features saved installation file, main program move commands relative to those features)
installation_1.urp (3 positions(points) saved in installation for setup #1)
program_2.urp (setup #2, 3 NEW position features saved installation file, main program move commands relative to those NEW features)
installation_2.urp (3 NEW positions(points) saved in installation for setup #2)
… to nth
program_n.urp (setup #n, 3 NEW position features saved installation file, main program move commands relative to those NEW features)
installation_n.urp (3 NEW positions(points) saved in installation for setup #n)
or however you want the nomenclature to be. Anyways hope I’m understanding your question correctly and that this helps, best of luck!
Hi. Please let me precise my question. So far my teached positions are not part of the installation file but of the .urp program itself. The control panel is used to move to the correct position and then this position is stored as waypoint. Can this be done with the installation file? Is there a way to have a sub-urp program maybe? BR