KR90 quantec KRC4 controller 8.3.12
Program is more or less:
LOOP
Pick rod
Forge end 1 strike 1
Forge end 1 strike 2
Forge end 1 strike 3
Forge end 1 strike 4
Reorient rod
Forge end 2 strike 1
Forge end 2 strike 2
Forge end 2 strike 3
Forge end 2 strike 4
Place rod
ENDLOOP
Problem: Need to put somewhere in the loop for feeding new rod and initiate heating process. Both feeding and initiating heaters can be done with PULSE. I’m just not sure where in the loop to put them. I would really like to put something at the top of the loop to be kinda like:
PULSE rod feed, not now, but T1 seconds from now.
PULSE initiate heaters, not now, but T2 seconds from now.
Then, I could adjust T1 and T2 to sync up with the robot motion. I tried using
TRIGGER WHEN DISTANCE=0 DELAY=60000 DO PULSE….
But I think I’m outside the max delay.
I imagine this kind of thing happens very often. I’m just not sure what the best practice solution is. If all else fails, I could just put the PULSEs in the loop at strategic places, but that doesn’t sound like an elegant solution.
Any help would be appreciated