I want to stack tyres of different heights using a ABB 6400R. I would like to have a height value assigned to each tyre so one routine can be used to stack any height of tyre instead of creating a routine for every tyre which could be quite time consuming. Below is an example of how I thought this might work.
MoveL (abvp1)+(height)
MoveL (p1)+(height)
MoveL (belowp1)+(height)
Could anyone provide some advise for creating a program like such.