January 16, 2019, 12:21:40 PM
Robotforum | Industrial Robots Community

 Auto recovery


Author Topic:  Auto recovery  (Read 1040 times)

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May 07, 2017, 03:30:50 PM
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RobotRon


Anyone written an auto recovery for these yet?

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=23152.0

Today at 12:21:40 PM
Reply #1

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May 11, 2017, 07:04:33 AM
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bsrr


Below is Homing routine example

MOVEX A=2,AC=0,SM=3,M1J,P,P*,R=20.0,H=1,MS
IF O31=1 THEN *Home_Pos ELSE *Check Current Angle
*Check Current Angle
GETANGLE V80!
IF V80!<>45 THEN *GO_up_in_Z ELSE *Home_Pos
*GO_up_in_Z
R5 = (0,0,50,0,0,0)
MOVEX A=8,AC=0,SM=3,M1J,P,P*+R5,R=20.0,H=1,MS
*Home_Pos
MOVEX A=2,AC=0,SM=1,M1J,P,(89.06,130.38,-54.35,0.42,14.08,201.49),R=20.0,H=1,MS   'HOME
END



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