hello everyone,
I've the robot moving material from(to) a matrix 5x4 where the spacing between the elements is 250 mm but, the problem is that the matrix (actually a table) is not parallel and perpendicular to the base of the robot, so i had to find the straight line function for both X and Y axis to compensate the variations by using a shift function
as follows:
POINT billet2 = on_corner_grip_
FOR row = 0 TO 4
FOR col = 0 TO 3
POINT billet2 = SHIFT(on_corner_grip_ BY 250*row+2*col,-248*col+1.5*row,0)
JMOVE billet2
OPEN 2
DELAY 3
DRAW ,,-213
CLOSE 2
DELAY 2
DRAW ,,500
JMOVE facing_table_gr
CALL vl_2
JMOVE billet2
DRAW ,,-215
OPEN 2
DELAY 1
DRAW ,,500
END
END
JMOVE facing_table_gr
HOME
I'd like to solve the problem using the FRAME function to eliminate "the offsets" and do steps of exactly 250mm instead to be using a mathematics function to compensate the errors but i am a bit lost about how to do it....could anyone give me a hand with it?
The other thing that i'd like to ask (sorry about me asking two question in the same post), how can i start the program with values different than ZERO for ROW and COL?
For example ROW =3 and COL =2 , without to modify the program, as this would allow me to initiate the program from any position of the matrix, instead to start always from the same point
thank in advance