Is there a way to put an upperlimit value to an offset pose. For instance if a search indicates the part is out over that value, the program stops and throw an error. Or a way to write a universal ( more then 1 pose) routine that I can call and check the pose before I try to weld it.
offset limits?
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jarm -
November 21, 2018 at 11:32 PM -
Thread is marked as Resolved.
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The search-instruction writes the searched position to a robtarget that you define in the instruction:
SearchL Sensor, SearchedPosition, TargetPosition, v100, Tool\Wobj:=wobj1;
Then just compare the element of the pose of the searched position against your criteria for min/max and stop execution if the value exeeds the limits?
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Is there a way to put an upperlimit value to an offset pose. For instance if a search indicates the part is out over that value, the program stops and throw an error. Or a way to write a universal ( more then 1 pose) routine that I can call and check the pose before I try to weld it.Create a Function which has two robtargets and a max distance num as inputs, use the distance function to get the distance between the two points and if it's more than your max you can raise an error and handle it in your function and/or raise it to your welding routine.