Hi guys!
I have a palletizing robot V8.3.33 and use a camera to receive the picking offset. During the high possible rotation degree - from -180 to +180 I need to change the last bit of "T" in E6POS. Firstly I tried to solve this problem as:
Code
IF XPICKING_POS.A < A_zero_switching_degree THEN
XPICKING_POS.T='B100000' B_OR XPICKING_POS.T
ENDIF
And if A6 goes belove zero it will change the last bit to "1". But when the position changes, the "zero switching degree" of A (RZ) also changes, so I cannot use it. As I understand I need somehow to calculate the Turn bits for every new point. Please, correct me if I am wrong.
Any suggestions how to figure it out?