16.  OFFSET/FRAME INSTRUCTIONS

Offset/frame instructions specify positional offset information or the frames used for positional information. There are five offset instructions:

If your system is configured to have more than one group, you can set the group mask when you create any offset instruction that contains a position register. The group mask allows you to use function keys to specify:

OFFSET CONDITION PR[x] item

The OFFSET CONDITION PR[x] item instruction specifies a position register that contains the offset information used when the OFFSET command is executed. When a user frame is specified in UFRAME[y], that user frame is used when the offset command uses the offset specified in PR[x]. The OFFSET command is entered in the motion instruction. Refer to Section 6, "MOTION OPTIONS INSTRUCTION" for more information. See Figure 73, " Offset Condition " .

Figure 73.  Offset Condition

Offset Condition

UFRAME_NUM = [value]

The UFRAME_NUM=[value] instruction sets the number of the user frame to use. A value of zero indicates that no user frame is used. This means that world frame is used. See Figure 74, " UFRAME_NUM=[value] " . Refer to the “General Setup” chapter in the Setup and Operations Manual for information on setting up the user frame.

Note

To verify that this feature is enabled, check the value of $USEUFRAME and be sure it is set to TRUE. Also, make sure the UFRAME number is not zero before you teach data.

Note

You must execute the UFRAME_NUM = value instruction after you insert it into a teach pendant program in order for the subsequent positions to be recorded correctly with respect to the proper user frame.

Note

This instruction can be used only if your system has the Userframe input option installed.

Figure 74.  UFRAME_NUM=[value]

UFRAME_NUM=[value]

UTOOL_NUM = [value]

The UTOOL_NUM=[value] instruction sets the number of the tool frame to use. A value of zero indicates that no tool frame is used. This means that the frame defined by the faceplate coordinates is used. See Figure 75, " UTOOL_NUM=[value] " . Refer to the “General Setup” chapter in the Setup and Operations Manual for information on setting up the tool frame.

Figure 75.  UTOOL_NUM=[value]

UTOOL_NUM=[value]

UFRAME[i] = PR[x]

The UFRAME[i] = PR[x] instruction defines the specified user frame using the information contained in a position register. See Figure 76, " UFRAME[i] = PR[x] " .

Figure 76.  UFRAME[i] = PR[x]

UFRAME[i] = PR[x]

UTOOL[i] = PR[x]

The UTOOL[i] = PR[x] instruction defines the specified tool frame using the information contained in a position register. See Figure 77, " UTOOL[i] = PR[x] " .

Figure 77.  UTOOL[i] = PR[x]

UTOOL[i] = PR[x]