Hello all,
I have a multi-arm welding setup. Robot 1 is stationary at the end of the rectangle table. Robot 2 is on a sled that moves linearly towards and away from Robot 1. Robot 2 and the sled it is on moves to a length and parks there...Part goes between centers and is welded until that model is done. Then robot 2 and the sled move, park, yadda yadda yadda. So I only need the linear axis when I do a model change.
I'd like to have the benefits of having Robot 2 know where it is along the rail, but I do not want to use the Extended Axis in every job...For example, when Reaming I just want the robot to go to the reamer wherever it is and not worry about where it is along the linear axis. For this I could take a LPOS and drop the 7th axis value into the Reamer PR of my choice, but I'm afraid of a "what if taht doesn't happen one time" scenario. I could always set up a NSI to enable a Joint Speed Check and make sure the axis doesn't move when I am doing just Robot stuff...That could help stop a "What if" situation.
It seems I can't track motion along the rail if the Extended/Linear Axis is placed as its own group, so Robot 2 stays stationary.
So to recap: Looking for a way for Robot 2 to know where it is along the Linear Axis, but not have to write programs with 7 axes that only require 6 axes. Any thoughts?