Hello everyone!
I work with a 6DOF motoman arm attached to a 3DOF gantry system. The controller is DX100 type.
The robot does a repetitive welding task on same paths parallel to each other with a fix distance. I usually program it by making a sequence, copy and pasted it, than parallel shift, and so on, so on. There is a lot of shifting. I tried once, to use the MShift option, but if an error occurred, like arc start failure, or shielding gas emptied, in playback mode it tried to resume to the original positions.
This is problematic, because during the welding, the torch has to go between workpieces, and it crashed one of the workpieces.
Is there any way to solve this problem?
Thanks!
EDIT:
I found the following description in the manual under the MShift function:
"If any of the following operations are performed after executing a parallel shift instruction, the shift function is cancelled.
• Job editing operation (changing, deleting, adding)• Cursor position change (step, line, etc.) in the job• Job copy, job name change• Registering a new job, deleting a job, or modifying a selected job
• Restart after the alarm occurs"
So basically, is there a way around this?
Thanks!
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