I am programming a XRC UP-130 for material handling. I need to find a way to make slight adjustments to one of the points while the program is running. The program uses a ladle on the robot arm to scoop liquid out a large bowl. Each time the robot scoops a ladle out the bowl, the level in the bowl drops a bit. I hope to find a way to adjust the z axis on the lowest point of the dip. All other positions in the program will need to remain the same. Any ideas on how to set something like this up?
XRC - Adjusting a point on the fly?
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Craig123 -
December 14, 2017 at 1:04 PM -
Thread is marked as Resolved.
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I am programming a XRC UP-130 for material handling. I need to find a way to make slight adjustments to one of the points while the program is running. The program uses a ladle on the robot arm to scoop liquid out a large bowl. Each time the robot scoops a ladle out the bowl, the level in the bowl drops a bit. I hope to find a way to adjust the z axis on the lowest point of the dip. All other positions in the program will need to remain the same. Any ideas on how to set something like this up?Hello, i'm just thinking out loud and i'm sure the more experienced members on here will have better ideas but...here goes:
Maybe you could repeat the same part of the program several times and each time you lower your z axis a bit so that it will run automaticly...
So like if you would repeat it 5 times the only position you will need to change every time is when the ladel is at the lowest point...
I hope it makes sense...[emoji4] -
Thanks for the input. I had considered this approach but found that the liquid level in the bowl at the beginning of the program varies a bit too much. I really need to find a way that I can start the program, see if the ladle dips too high or low and then adjust.
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Hmmm then maybe you should find a way of measuring how much liquid is in the bowl a sensor or something and then programm it with the IF command?
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SFTON
Begins the parallel shift operation. The amount of the parallel shift is set in
a positional variable by the increment value of X, Y, and Z in each
coordinate system.
and SFTOF
Ends shiftNOP
MOVJ VJ=50.0
MOVL V=138
SFTON P000
MOVL V=138
MOVL V=138
MOVL V=138
SFTOF
MOVL V=138 -
SFTON
Begins the parallel shift operation. The amount of the parallel shift is set in
a positional variable by the increment value of X, Y, and Z in each
coordinate system.
and SFTOF
Ends shiftNOP
MOVJ VJ=50.0
MOVL V=138
SFTON P000
MOVL V=138
MOVL V=138
MOVL V=138
SFTOF
MOVL V=138Hello tony, forgive me my ignorance but how does that look exactly? The positions in between SFTON and SFTOF are three different positions for the ladel at the lowest position?
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While the job is running in PLAY, go to UTILITY and choose PAM. Then go in and put in the step(s) numbers you want to adjust, and the Z value (max 10mm). Cursor down to the bottom and press SELECT on the EXECUTE option. It will adjust your program the next time the program hits the NOP command.
To use this function safety and properly, make sure you are familiar with
- your directions in the frame you use (Base, Robot, etc.)
- your stepsHope this helps!
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NOP
MOVJ VJ=50.0
MOVL V=138
SFTON P000
MOVL V=138
SFTOF
MOVL V=138What ever data you put in P000 will be the offset of the point or points between SFTON and SFTOF.
It will not change the value of the taught point of the program.
Clear the data in P000 and the program will return to the original position. -
Thanks for the direction! I'm going to dive into this today and see if I can get it to work. Do I understand that 10mm is the maximum possible offset? I hope not as I need to adjust across a 8" range.
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Thankyou tony, i understand now[emoji4] very interesting feature!
Do you want your ladel to dip or do you want it to scoop? Lol...[emoji2]
If you want to scoop i think it would be better with MOVC...and a PL 0 at the first position...but i could be wrong too i'm just thinking with you![emoji6] -
Craig123
PAM is permanent and limited
SFTON and SFTOF will give you a very large range by simply changing the value of the P-variable plus or minus.
Your original point never changes. It does not accumulate. It will just offset the about stored in the element it is stored in. -
Sucess! Well, sort of. I added the SFTON/SFTOFF to my program (found in the "inform list" options - P000 variable was added automatically). Then found "Variables" on the main menu and set the offset. Ran the program and saw that it had worked. I was not, however, able to change the offset with the program running. I can get to the P000 variable but it won't let me select it to make changes without stopping the program and going into teach mode. Is there any way around this? I had hoped to make adjustments without stopping the program. Thanks for the help in getting me to this point. Very cool feature!