Hi all
new to Kawasaki, usinr e01 controller
I have created a real variable named current_position
every movement robot makes i want to write point number into the variable, which can later be used for homing purposes.
This is how i do my homing on other robots.
I'm having problems synchronizing the value written to the robots actual position.
From manual :
i'm trying to use PREFETCH.SIGINS to synchronize my code but i think this only works with signal outputs and not variables.
Basically, for example i want to write a value of 4 to current_pos when robot finishes moving to p4, not when it starts moving to p4.
Please see code below.
right now robot will write 4 to current_pos soonest it starts moving to p4 and not at the end of movement.
Not sure how many lines ahead does the controller read. If its only 1 line, i could play with it and just make it work, but i don't want to risk it as i know other robots go up to 3 and up (kuka), which can be defined.
Anyone know of a trick i could use to get that done ?