XRC Macro for Base Axis

[cunaf]

Greetings Motomen & women:  I have an XRC UP6 Mig robot with an extended axis that controlls the turn table.  Under normal operation, the robot finished the weld job, gets to the home cube, then the master job calls the program to rotate the extra axis.  However, ever 5 - 10 cycles the robot has to goto the reamer which IS clear of the table.  I want to be able to turn the table while the robot is reaming.
What are my options?
I know with Fanuc I can assign external axis routines to a DI in the macro table while the robot is doing a motion program.  Can Motoman do something similar?
Any help appreciated!

[tony gast]

P-start the table and reamer jobs.
the home cube must include the reamer and its path to home position.....
I do this all the time.
in a cell that has a very small foot print some times the path from the reamer is an issue. it this case I make a 2nd cube at the reamer (map it with the home cube)  and at the end of the reamer job i wait for the turn to complete before going home. .....And  i don't start turn until clean starts

[cunaf]

Oh I've got tons of room!  This is no lean cell!  Sorry for my lack of experience, but I don't know what P-start is.  I have an NX100 Inform II manual and an XRC manipulator manual.  The .pdf search yielded no results.  Is this too lengthy for you to explain?
We have a PLC controlling everything.

[tony gast]

sorry I forgot that you must have the Independent Motion option....It is a paid option....
I always order on cells that I build ...That is why you didn't find it in INFORM...it has a separate manual

If the option is on when you go to the inform list you should see (the attachment) if not


Another way without the option would be to write the turn jobs as R1+S1 jobs and spin the table while cleaning.
yes it will clean every time it sweeps.....but you can jump to the last move using if and counters or inputs
.

[cunaf]

Thanks Tony.  Looks like I do have the Independant Motion Option.  You would happen to have an email-able copy would you.  Does this manual explain how to do it?

[cunaf]

   Thanks Tony.  After reading the independant motion section I was amazed at how easy it was to do what I wanted to do.  I just added 2 instructions to the exsiting programs and am done.  How easy!

[Fabian Munoz]

HI cunaf

Now that you are getting familiar with Motoman, are you gonna change your name to :   namotom