February 17, 2019, 08:36:46 AM
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 Position adjusts to height value

Author Topic:  Position adjusts to height value  (Read 136 times)

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February 07, 2019, 08:46:37 AM
Read 136 times
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David.mms


I want to stack tyres of different heights using a ABB 6400R. I would like to have a height value assigned to each tyre so one routine can be used to stack any height of tyre instead of creating a routine for every tyre which could be quite time consuming. Below is an example of how I thought this might work.
MoveL (abvp1)+(height)
MoveL (p1)+(height)
MoveL (belowp1)+(height)

Could anyone provide some advise for creating a program like such.

Today at 08:36:46 AM
Reply #1

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February 07, 2019, 01:38:07 PM
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Lemster68


CONST num nTire1:=200;
CONST num nTire2:=250;
PERS num nStackCounter1:=0;
PERS num nStackCounter2:=0;
VAR num nZOffs;

TEST Style ! whatever it is that you use to know which you are stacking
  CASE Style1:
     zZOffs:=nStackCounter1 * nTire1;
     Incr nStackCounter1;
  CASE Style2:
     zZOffs:=nStackCounter2 * nTire2;
     Incr nStackCounter2;
   DEFAULT:
      Stop;
      ! figure out why nothing matched
ENDTEST

MoveL Offs(0,0,nZOffs),v100,fine,tool0;
! Etc., etc.,
! You will need logic to reset your counter as needed

February 10, 2019, 03:46:37 PM
Reply #2
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SAABoholic


Rather than recalculating positions and/or applying offsets per target, just use PDispSet, or better yet workobjects.

MyWobj.uframe.trans.z:=nTireHeight;


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