so have a program working for a vision guided system and slowly making tweaks as i go along. was originally using imov's to move into positions but when we had someone in from motoman he suggested using sfton and a movl which i have done for the inital X,Y and angle which seems to have helped with speed and also reduced if not completely removed any excessive segment alarms we was getting. he said he wouldn't use imov's at all as he doesn't like them, at the minute i am still using imov to move Z minus and then Z positive. Trying to get rid of them and replace them with a movl that moves a set distance on the Z minus and positive but can't get it working. tried using sfton again and position variable to move but that just didn't work at all. then tried a getpos and set that to a position variable then convert to robot frame then set element 3 to -67000 to come down 67mm but the robot moved a couple of mm down and thats all.
Does anyone have any ideas on the best way for me to move down from the camera position that has been given and also then move up a set distance after the robot has gripped the part.
Hopefully this makes sense as looking at the same thing over and over and getting nowhere has started to frazzle my brain a bit
