Hello,
I wrote this code for a new job we are welding. I am finding the location of the parts in a routine called "A_Truss_laser_check()" then welding with a routine called "A_3281380000()"
For some reason when stepping thru the code, the robot forgets if it should be going to the "Displaced" position if I step backward. As an example if I want to mod pos ArcLStart, I move the robot press mod pos then if I pp to the MoveL above it. the robot will go to the original movel position not the displaced position, the PP never crossed over the PDispOff; instruction. In automatic it runs fine with no issues. Also if there is an arc failure and you press resume the robot will go to the wrong position.
Does anyone see anything I did wrong with the code? If it will help I will email the complete mod to anyone to look at.
PDispSet pose_ATPlate1;
MoveL pATruss_10,v2000,z50,tWeldGun\WObj:=wobj_ATruss;
ArcLStart pATruss_1a,v2000,smTruss,wdTruss\Weave:=wvTruss,fine,tWeldGun\WObj:=wobj_ATruss;
ArcL Offs(pATruss_1a,nweld_Xminus,0,0),v2000,smTruss,wdTruss\Weave:=wvTruss,z1,tWeldGun\WObj:=wobj_ATruss;
ArcLEnd Offs(pATruss_1a,nweld_Xplus,nWeld_Yplus,0),v2000,smTruss,wdTruss\Weave:=wvTruss,fine,tWeldGun\WObj:=wobj_ATruss;
MoveL pATruss_10,v2000,z50,tWeldGun\WObj:=wobj_ATruss;
ArcLStart pATruss_1b,v2000,smTruss,wdTruss\Weave:=wvTruss,fine,tWeldGun\WObj:=wobj_ATruss;
ArcL Offs(pATruss_1b,nweld_Xminus,0,0),v2000,smTruss,wdTruss\Weave:=wvTruss,z1,tWeldGun\WObj:=wobj_ATruss;
ArcLEnd Offs(pATruss_1b,nweld_XPlus,nWeld_Yminus,0),v2000,smTruss,wdTruss\Weave:=wvTruss,fine,tWeldGun\WObj:=wobj_ATruss;
MoveL pATruss_10,v2000,z50,tWeldGun\WObj:=wobj_ATruss;
PDispOff;