Help please I want blanks at each other to lay down my 1 Those switches
Those switches are in operation as it is necessary that he remembered position pos_akt and considering lposledushie harvesting up
PALLET
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vto833 -
August 12, 2013 at 1:39 PM -
Thread is marked as Resolved.
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you want to remember position?
Height?
And lay what? -
yes I have pos_akt he shall, to rise above from the current position, if there is, if I first workpiece 40mm must workpiece delat 2 + 40mm and 80mm will workpiece + 40 is equal to 120 mm
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I do not understand. This is not coming through in English.Glad I'm not the only one who couldn't make head nor tails of this!
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I see the program is linear down, but he kady 500m makes a request for dtchik and I need whatever it is constant checking and harvesting stopped holdings
REPEAT
LIN_REL {Z-500}UNTIL $IN[4]
LIN_REL {Z -4}
XFD=$POS_ACT
pickup=XFD
$FLAG[4]=TRUE -
isn't that lin z-500 a bit "tricky"? why not lower distance since you're repeating it... the risk of collision is... big...
still - I don't understand anything... due to that, I'm might misunderstanding the wish - and doesn't know the system setup either...
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this might help - Skyefire and I talked about something similar years back:
https://www.robot-forum.com/robotforum/kuk…24474/#msg24474 -
Posmatryu please I put the door, I determined Those switches on and he goes down Linin 75 mm as it is possible to create one that he had when I first see the door In case of late counted in the top without movement LIN_REL
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I'm sorry, but your English is incomprehensible. I am unable to understand your requirements.
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I'm sorry, but your English is incomprehensible. I am unable to understand your requirements.Same problem here...
I think this is what he want:loop
Robot palletize stack - auto search the height, since it's a variable
Moves to sensor (mounted on side of gripper)
Moves a bit up (I think)
Vacuum takes door / Wood thingy
moves to conveyr
drop part
endloopif that's the wish - it's been "solved" by the upper comments...
2 declared points (ok... maybe 3)... that's it...
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somebody explain this to me an example of how to write correctly I have an error LIN SETDOWN POINT shall describe how I create one regular and Sorry for my English
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why not something like this:
make sure to make some "if height below "something" - don't continue"
Code
Display More&ACCESS RVO1 &COMMENT DEF Modul ( ) DECL POS SafePos DECL POS SearchPos DECL INT Palletheight PlacePos1={X 0000,Y 0000,Z 0000,A 000.000000,B -0.000000,C -0.0} SearchPos={X 0000,Y 0000,Z 0000,A 000.000000,B -0.000000,C -0.0} ;FOLD INI ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) Palletheight = Palletheight +1000 ;blablabla IF $in[1234] THEN ;what ever signal used for making it palletize PTP SafePos C_PTP SearchPos.z=SearchPos.z+Palletheight PTP SearchPos C_PTP ;go down REPEAT LIN_REL z{-25} UNTIL $IN[2345]==TRUE ;move a bit up REPEAT LIN_REL z{1} UNTIL $IN[2345]==FALSE ;or use the same input as above ENDIF ;FOLD OUT 1 '' State= TRUE;%{PE}%R 5.4.33,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:1, 3:, 5:TRUE, 6: $OUT[1]=TRUE ;ENDFOLD ;your vacuum thingy LIN SearchPos C_DIS PTP SafePos C_PTP go_palletize() END