Position Register

[IRCS]

I am using a RJ3-R2000IA to pick from a 6 position rack and want to use 1 PR, is it possible to adjust the PR based on a photoeye and limit switch to do this? Maybe run a background program in KAREL? Basically the Photoeye will need to be used to set a part present and move a value into the PR as well as perform a speed adjust. Almost like a vision system.

Thanks

[bnradams]

You could possibly use "SKIP CONDITION".  We have a proccess where we pick parts out of a horizontal rack.  We teach two points, point "a" in front of rack with hand positioned as to pick the first part, and point "b" in back of rack to pick last part.  Once a part is in hand, the part is removed from rack with a direct "Z+" motion using a pos. register.  the program looks something like this:

1: L P[a: IN FRONT RACK] 500mm/sec FINE
2: SKIP CONDITION DI[##: PART PRESENT] = ON
3: L P[b: IN BACK RACK] 500mm/sec FINE Skip,LBL[1]
4: 'LAST PART PICKED
5: LBL[1: PART FOUND]
6: 'CLAMPING I/O
7: PR[1: PICKED POS] = LPOS
8: PR[1,3 PICKED POS] = 300
9: L PR[1: PICKED POS] 100mm/sec FINE
10: L P[c: IN FRONT RACK UP] 500mm/sec FINE

Line 7 records current position
Line 8 makes Z position 300mm (offset as needed)
Line 9 moves to offset pos. reg.
Line 10 moves to common point at front of rack

Hope this helps

[IRCS]

Thanks for the help, I'll give it a try