We had one of our robot cells that we are installing crash just before thanksgiving. The basic concept of the machine is 2 robots lay the glue path on a headliner and then a 2 sided table (also controlled by one of the robots) rotates to a parallel position and then travels over top of the headliner and extends cylinders to place the plastic parts on the glue paths. We were already on the road when the customer called but from what I could gather the table attempted to travel before it went to parallel.
The only thing preventing it from doing this right now is the way I have written the programs that carry out this action. (The program looks for an input from a reference position that the table is at one of the 2 parallel positions before it moves over the table) But clearly something went wrong and I'm not confident this method is gonna be 100% reliable.
I'm wondering if there is a way to restrict group 2 (travel) to only be able to move if group 3 (rotation) is at either 0° or 180°. Kinda like an Lstop that only restricts group 2.
Any input is appreciated, Thank you.
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