I am using a xrc/up6 handling robot to move 1/8" thick plates. I'd like to pickup from a pile of 20 plates and drop off into another pile of 20 plates.
I'm not sure on the best way to program this in inform ii. I saw that you can use joint pulses and do math on those, but it is far more complex in terms of joint motion regarding what happens in a MOVL. I didn't see a way to do an operation similar to MOVL, Z n*plateThickness.
I setup a program where its all MOVJ moves to get into position, then a slow MOVL to get at the pickup or drop off sites, but now its time to figure out how to do a loop and to increment on plate thicknesses. anyone have a suggestion of the most efficient way to do this in inform ii
?
it looks like SFTON, some movL's, SFTOFF. is there a better way to do this with sub jobs and passing a increment/decrement variable or something like that?