Hi all,
First of all: KR180PA, KRC2 Windows 95 operating system.
I'm programming a palletizing application, nothing complicated by now, all was ready to deploy when the customer has made a major change in the elements situation and now the simple "go to XHOME" will not work always due to possible collisions with the environment.
An easy solution would be moving the robot to a minimum safe height before going to the HOME position.
I'm using only XHOME, not any other XHOME1,2,3...
And I've declared a variable FRAME posAux.
Summarizing:
- I'm getting $AXIS_ACT into an unused XHOME1 variable and then going to that XHOME1 (to do the BCO).
- Then I check if the current $PosACT.Z is lower than the desired height 1550.
- If it is lower, then I go to PTP {z 1550}.
- At the end I go to the good/desired XHOME.
Code
XHOME1 = $AXIS_ACT
;FOLD PTP HOME1 Vel= 100 % DEFAULT;%{PE}%V3.2.0,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT $BWDSTART = FALSE $H_POS=XHOME1 PDAT_ACT=PDEFAULT BAS (#PTP_DAT ) FDAT_ACT=FHOME BAS (#FRAMES ) BAS (#VEL_PTP,100 ) PTP XHOME1
;ENDFOLD
IF ($POS_ACT < 1550.0) THEN
PTP {Z 1550.0}
ENDIF
Is there any easier/safer way to reach a minimum height before going to PTP XHOME?
Thank you all!