Hi all. I am struggling with creating a routine to check a round part for flaws. The round part is held above a laser sensor and the T-axis is rotated 270 degrees one way, and then 360 degrees back (to get a full 360 degree view of the part - I can't do a complete 360 because of gripper and sensor wires). I am currently using a Position variable in base coordinates, setting Rz to the desired angle, and rotating using a MOVL P000 command with UNTIL IN#4=ON (IN#4 turns on if a flaw is detected). The parts rarely have any issues, so the rotation almost always goes the full 270 degrees without stopping.
The issue I am having is that after the first 270 degrees is compete and the command to rotate back is issued (set Rz to a new value and MOVL P000...), the robot continues to rotate in the same direction for an addition 90 degrees. In other words, it takes the shortest method to get to the apparent final position. Is there any way to force it to rotate back the way it came from?
Thanks in advance!
Frank