With the offs function, there is no modifying the actual position with the modpos. Then you can modify any actual position afterward.

It's a program that physically adds offset value to the position (*). Does ABB have a similar function available on the FlexPendant?ģ) I'm thinking that in order to wind up with a point I can touch-up (ModPos), I would need to use a statement like: p10 := Offs(p10,100,0,0) Is there a way to enter this kind of a statement efficiently on the FlexPendant or is it smarter to move to RobotStudio to do these edits? KUKA has such a function available on the pendant (SmartPad) I believe it is called 'transform'. ) and not * points.Ģ) I was unable to find a function on the pendant that would allow me to select a group of moves and add an offset amount (in my program, 100mm in the +X direction) to each move. This program works but I want to check my understanding with a couple of questions.ġ) It seemed like I needed to use named points (p10, p20. So far, I have written the following test program:ĬONST robtarget p10:=,] ĬONST robtarget p20:=,] ĬONST robtarget p30:=,] ĬONST robtarget p40:=,] I'd like to be able to do all of the from the FlexPendant if possible. After the moves have been offset using the Offs function, I will need the ability to tweek the new positions by using ModPos. I would like to program one part completely (about 80 welds), then duplicate this program and apply the Offs function to shift the moves to accommodate the different sized but similar parts. All of these parts require the same welds. There are many variations of this part wider ones and taller ones. The part is basically a steel frame in the shape of a rectangle.

Applying a rapid to robotstudio