Hi, I have lurked around in the forum for a little while and there is some good info here. We have a R-2000iA (actually 3 in this press tending work cell) running Handling Tool software. Controllers are R-J3iB I believe.
Right now we have one of the robots removing the part and placing on a conveyor to move out to a guy that stacks the parts. We would like to program it to place multiple parts on a metal pallet in a horizontal direction all standing up against the next part. From the first piece to the last piece would span about 28". There is already a "part counter" register set up for this robot and we would like to utilize it to tell the robot to move aprox. 10mm away in the X axis from the previous part when placing the next. We know this type of routine can be programed using PR and R values due to it's use in other job program on this robot. That program was written by an outside company and is a total mess when you look at it so it makes it difficult to figure out what is going on.
Does anyone have a breakdown on how to program this type of routine? Any suggestions will be greatly appreciated! Especially from the guy who has to lift these 60 pound parts off the conveyor every 17 seconds!
I have drawn up a crude sketch of what we are trying to accomplish in case it was not clear.