Dear, roboticists.
I am using the instruction VCON to endlessly rotate the 6th axis of a robot.
Since we need the tool to rotate endlessly, we need to reset the rotation amount.
We do this by calling the instruction VCOF after a certain number of cycles, otherwise the rotation amount reaches its limit and the robot halts.
There is a drawback with this approach: each time a VCOF is executed, the rotated revolutions are rotation backwards, which requires a certain amount of time.
I have seen in the documentation ("DX200 OPTIONS - INSTRUCTIONS - FOR SPEED CONTROL FUNCTION") that the teach pendant UI provides a button to reset the rotation amount to 0. I was wondering if there is such instruction to call from a job; since the axis is mechanically able to rotate in one direction endlessly, it should be possible to reset the value by software.
Does anyone know if this is possible or I may be missing something relevant?
Thx in advance!