Changing pallet reference / teaching feature points

ssandberg

I have an application picking parts from a table but the table will occasionally move a few inches. Is there a way to change the pallet reference so I don't need to teach the various pallet points again?

Also, on a related questions, I taught a feature (reference_plane) that created three points below it (point_1, point_2, etc..) I'd like to poll an operator to reteach these points with some popups. I've tried a script command Point_1=get_actual_tcp_pose() but it throws a syntax error. The plane is set to a variable type as are all the points below it.

matthewd92

@bender There is no way built-in to update the plane in that manner.  The plane is actually calculated when you build the feature in the background.  We've been looking for a solution as well to this problem.  We are still working on the math to do this in script code.  That only applies if you are trying to recalculate the whole plane including the rotations in X, Y and Z.  

If all you need to do is move the center point of the plane and the plane rotations around the axes stay the same, you should be able to set the reference plane variable to the tool, I would recommend only setting the X, Y, Z components though so that the plane angles do not change.  You could do a pose_trans or just simply set the X, Y, Z components in the plane feature variable to the current tool X, Y, Z

matthewd92

You need to look in the variables list for Point_1_var, you can then assign the current pose to it.  Another shortcut is you can just assign the curent Tool pose as well like this

Point_1_var = Tool (you have to choose Tool from the dropdown menu of poses, it actually returns Point_1_var = get_actual_tcp_pose(), just is easier to read in my opinion.

bender

Is there something that need to be done once the 3 variable points of the plane have been updated? 
I tried it and it looks like the plane isn't updating as every waypoints under the moveL in the plane feature don't change.
I update the points using the following function : 

 Point_1_var = get_actual_tcp_pose()