Hello i have a robot with a DX100 controller. Robot is picking up pipes from a pallet with a magnet.
It starts in one end, and keeps going along the pallet only addding X to the P-variable.
What i cant figure out is where he adds approx 270 to the X value each cycle.
Here is the program where he calculates the position:
NOP
GETS PX020 $PX011
CNVRT PX020 PX020 UF#(1)
JUMP *ok IF B004<4
SET B004 0
*ok
GETE D020 P020 (1)
SET D020 EXPRESS D020 + B004 * 273000
SETE P020 (1) D020
SET P021 P020
GETE D020 P020 (3)
ADD D020 450000
SETE P020 (3) D020
SET P022 P020
GETE D020 P022 (5)
ADD D020 250
SETE P022 (5) D020
END
And here is a bit of code of the robot pick program:
MOVJ C00000 VJ=50.00
MOVJ C00001 VJ=100.00
*TOPP
REFP 1 P010
CALL JOB:FL_OFF
CALL JOB:CALC-POS //Calculates the position here.
*LOOP
DOUT OT#(8) OFF
MOVJ P020 VJ=25.00 /this is the position before he goes straight down until it gets a hit with the magnets.
TIMER T=0.30
WAIT IN#(401)=OFF
What id like to adjust is how much he adds to X value in the P20, and also adjust the first picking point in the pallet.