Hello guys im new to Robot operating/Programming. I have recently started operating a cell with a cnc machine robot pickvsion set up. We normally Harden and Grind as well. Our programmes work well. But we have stopped grinding and hardning for now. So we have commented these parts out which is fine the programme is 98% Good. But when our finish part holder does not have a part on it and the sensor knows this the robot goes instantly to the conveyor from the door and the gripper is pointed outright. which hits the door of the machine. I was wondering if there was a way to implement a line or procedure when this happens or just add a wrist movement to lower the gripper slightly on the wrist. I wish to solve this so i can prove im worthy to and do some courses as the brains behind our robot has retiired lol sorry for long post im really keen to solve this
IRC5 Robot Hits door
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Dench -
July 8, 2015 at 11:43 PM -
Thread is marked as Resolved.
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At the moment of the point where it's hitting the door use an 'IF' statement that checks the value of the tool sensor, and if the part isn't there, it does an extra move. It would look something like this:
IF DInput(partSensor) = 0 THEN
MoveJ ExtraMovePoint, v50, z50, tTool
ENDIF