Hi all!
I have just got a laser sensor installed by Yaskawa. Yaskawa have also made the programming for this sensor. The sensor helps the robot to find out how he have gripped the piece.
When the sensor get activated I save the result and recalculate my end-position.
My problem is that I get different values when I measure the same piece allthough I should get the same result (almost). At least within +/- 0,05 mm I think? But I can get (from my REFPoint) measuring values between +1,5 mm to -1,5 mm.
The program looks like this:
MOVL LP004 V=50.0 SRCH RIN#(2)=ON T=0.20 DIS=0.1
GETS PX090 $PX002
CNVRT PX090 PX090 RF TL#(4)
My idea is that the speed during the search can be an issue? Or has it something to do with the MOVL-programline? What does the T and the DIS do?
Thank you!