One point, two tools [solved]

  • Hi everybody, i am solving this interesting problem and i would like to ask you for your opinion if its posible to solve.

    I have robot holding two parts on oposite side of greifer and puting them to palet. To each palet position robot can put first or second part, depends on the plc signal.

    I would like to make my program so i teach position with first tool and then somehow change tool number and come to same position. Position have to be in xyzabc becouse i use offset for them.

    I tried to change FDAT parameters in program but i have problem with abc orientation, is imposible for robot to came to position.

    Do you have any ideas?
    Thanks in advance.

  • 1. calibrate both tools
    2. write program that moves tool1 to position P1, then retracts to P2 then moves tool2 to P3
    3. touchup P1 and P2
    4. in your program, before moving to P3, add line


    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • With problem with ABC i mean that while point with tool1 have orientation A +90, B -20, C -90 the same point with tool2 should be A -, B +20, C +90.

    As panic mode suggest i made this:


    But for proper work i had to add

    While changing orientation is easy i find it dificul to correct T for each positon. Also i would like to teach only four corner positions and calculate rest. Now o think it is problem becouse of T parameter.
    Is posible to set robot to come to position in nearest (undefined) T configuration?

    Tools are defined by direct numerical input. I check abc orientation so the movement is same.

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