Hello everybody,
So I have two robots(LR Mate 200iD/7L) that directly exchange a part between them. Robot A moves into an exchange position that is also a Ref Position, starts Softfloat once its there and begins waiting for the completion signal from robot B. The Ref Position signal is sent to robot B who now moves in under the part, moves up via touchskip, suctions the part and releases the grip of Robot A. Once Robot B has moved away again a pulsed DI wakes up robot A which signals that it's safe to leave the position now. The touchskip and softfloat are there to prevent wear and accommodate different part sizes.
Could someone explain the difference between the Soft Rat and Soft Tol settings? Z+ is the direction in which robot A gets moved in by robot B. I want the gripper to remain as vertical as possible while being pushed upwards. Also robot A has to properly reach the exchange position since it's a Ref Position or else robot B will not start moving in to grab the part. Here's what I currently have: