KRC2, KSS5.x.
I've prepared a palletizing program that has been working for days now...
All day they have been making parts and "suddenly" the robot started rotating the 6th axis while going to pick the part.
I'm sure they have made a modification in the program... But tomorrow I will confirm it.
There are 3 points to get a box:
1. Approximation (pPre1).
2. Vacuum cups almost touching the box (to allow them to adjust the cups if needed) (pPre2).
3. Pick position (p).
In the first point I've set the T value, the other 2 ones have not...
I assign the coordinates this way:
rX = iXBox/2.0
rY = iYBox/2.0
rZ = iZBox*1.0
rA = 90.0
pPre1.X = rX
pPre1.Y = rY
pPre1.Z = rZ + rZOffs
pPre1.A = rA
pPre1.T = 'B 100010'
pPre2.X = rX
pPre2.Y = rY
pPre2.Z = rZ + rZOffs
pPre2.A = rA
p.X = rX
p.Y = rY
p.Z = rZ
p.A = rAThe robot starts rotating going from pPre1 to pPre2... which should not as the point has the same coords except from Z and T (which pPre1 has initialized and pPre2 has not).
As you can see I've not updated the T parameter of "pPre2" nor "p"...
Of course, if they have touched up the position the S and T will have appeared and therefore the robot could want to go to the destination position...
I can solve it by accessing the $Config.dat file and remove it manually, but... could I do it programatically?
If that would be possible I would be able to program a small routine to leave the points as I want before starting the program.
As always thank you in advance.
