i have a easy question but im still a little new to the ABB world...i have a robot tending to 4 machines and in plus out conveyers and i want to have a "safe move" that is just a y,z, move and when i try to just go in the moves data and 0 out the x it will literally move to 0 so what am i missing so that i can call this ''safe'' whenever instead of having 10 more moves than i need
Stupid Programming question
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Paintworkz -
December 13, 2016 at 8:53 PM -
Thread is marked as Resolved.
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Not sure I completely understand your goal. You want to move from a position to X=0 and keep Y and Z the same as they were?
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no,,, opposite,, i want to keep X the same and i would like to call a move that is "safe" and have the robot move basically all the joints but X because i have the robot in the center of multiple machines/conveyors i could use the same move (safe) as long as there is no move X
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I have an AutoHome routine that uses something similar. Here is a hacked version that might be what you're looking for:
CodepCurrent := pSafe; pCurrent.trans.x :=CRobT(\Tool:=t_Nozzle\WObj:=woAutoHome).trans.x; MoveL pCurrent, v100, fine, t_Nozzle\WObj:=woAutoHome;
pCurrent is a variable. You might need to adjust/eliminate tool and wobj data.
The concept - copy your "safe point" to a variable, then overwrite the "X" value with the current "X" value, then move to it.
I haven't tried this yet...