Hi All,
I am new to robotics and would appreciate any help any experts advice
I have recently purchased a NX100 Motoman for my welding operations. The robot works in conjunction with two flip tables which enables the robot to weld the underside of the product. I am having trouble programming one of the tables to flip coherently. The program for the table which has no problem flipping has the following code (Line 000-Line 012) which is not in the program for the table which has the problems:
0000 NOP
0001 JUMP *D IF IN#(6)=ON
0002 JUMP *A
0003 *D
0004 JUMP *E IF IN#(11)=ON
0005 JUMP *A
0006 *E
0007 JUMP *F IF IN#(13)=ON
0008 JUMP *A
0009 *F
0010 JUMP *G IF IN#(15)=ON
0011 JUMP *A
0012 *A
0013 DOUT OT#(5) OFF
0014 DOUT OT#(6) OFF
0015 DOUT OT#(10) OFF
0016 DOUT OT#(11) ON
0017 WAIT IN#(12)=ON
0018 WAIT IN(14)=ON
0019 DOUT OT#(11) OFF
0020 JUMP *B IF IN#(7)=ON
0021 JUMP *B IF IN#(8)=ON
0022 DOUT OT#(5) ON
0023 DOUT OT#(9) ON
0024 WAIT IN#(6)=ON
0025 DOUT OT#(9) OFF
0026 DOUT OT#(8) ON
0027 WAIT IN#(11)=ON
0028 TIMER T=1.00
0029 DOUT OT#(8) OFF
0030 DOUT OT#(5) OFF
0031 JUMP *C
0032 *B
0033 DOUT OT#(5) ON
0034 DOUT OT#(6) ON
0035 DOUT OT#(9) ON
0036 WAIT IN#(6)=ON
0037 DOUT OT#(9) OFF
0038 DOUT OT#(8) ON
0039 WAIT IN#(11)=ON
0040 TIMER T=1.00
0041 DOUT OT#(8) OFF
0042 DOUT OT#(5) OFF
0043 DOUT OT#(6) OFF
0044 *C
0045 DOUT OT#(10) ON
0046 WAIT IN#(13)=ON
0047 WAIT IN#(15)=ON
0048 DOUT OT#(10) OFF
0049 *G
0050 END
So in Lines 000-012 are absent from the table program I am having trouble with. I am assuming these labels (*A to *G) have to do something with it. However, I am having trouble seeing and modifying these Labels (A to G). How do I enter, observe, and modify these labels and their specific actions? (eg *A or *D)
Do you experts have any advice how to do this, or am I looking down the wrong route here?
Much Appreciated