I am working on an existing robot that was already setup and will now be needing to run a 2nd part type. New part is basically the same part, only a little longer and larger in diameter. I initially was told that only difference between them was the height so I was just going to use a z-offset when the input is on telling me that we are running the new part. Since it will not be that simple, I am thinking of either still going with an offset where basically at the top of the program I will say something like:
IF DI[1] on PR[1,1]=10
IF DI[1] on PR[1,3]=28
IF DI[1] off PR[1,1]=0
IF DI[1] off PR[1,3]=0
Then my nest move will be to say PR[2] Tool_Offset, PR[1]
Or I thought about trying something like:
IF DI[1] on R[1]=5
IF DI[1] off R[1]=6
Then my nest move would be PR[R[1]]
PR[5]=new part nest pos
PR[6]=old part nest pos
My main concern is that with the 1st example you would need the original part on hand to reteach a position because it is based on that part with a shift to the new part. The second example lets each part type have its own distinct position. Any thoughts or input would be appreciated.
