Hi all,
Hoping to see if someone had done a smarter and more simpler way to auto search for a part? Parts are stacked vertically and robot will be incrementing Z everytime the program is loaded.
I am currently following the logic as below,
MAIN PROGRAM
HOME
LIN P1
LIN P2
IF NOT PARTFOUND THEN
REPEAT
PTP $pos_act
BAS(#VEL_CP, 0.25)
LIN_REL {Z -100} C_DIS
UNTIL (PARTFOUND)
ENDIF
;PART FOUND
DO SOMETHING WITH PART.
END
So how do I stop the current logic when part found in a simpler way apart from setting $ov_pro speed to 0 and interrupts and end the iteration.?
Just want to make sure the relative linear motion terminates when part present is detected by an input.?
Any helpful suggestions appreciated.
Kind regards