Good morning gents.
Edit: Sorry forgot to add, this is a krc2 V5.6.12
Im working in a really fun project, at least for me after 10 years in car factories with basically grippers and welding guns.
I have my first palletizing robot, and its really pushing me (happily) out of my confort zone.
So the robot has 3 bays for standard europalets in front.
Palet 1 I programmed and works a charm.
I calculate a grid and then multiply by row or column and is working really good.
However, my second palet is sitting across my axis 1 (I can already feel you guys grinning).
So when the positions are recalculated, the point becomes unreachable due to axis 1 limit.
I can see the problem in my dat file, the S and T values are changing. (T43 changes to T42).
I do know with Lin movements I can ignore this, however I would like to know if there is a better approach, its not the first time in my career I have suffered with these orientations.
Any help much appreciated.