Hello my friends.
I want to run robot and positioner at the same time. First robot run at path_10 and robot goes his home. Then While the robot is running on paht_20, the positioner needs to rotate.
I am able to Return STN1 with below codes
PROC main()
ActUnit STN1;
WaitTime 0.5;
Path_10;
!WaitTime 0.5;
!DeactUnit STN1;
!WaitTime 0.5;
!ActUnit INTERCH;
IndAMove STN1, 1\ToAbsNum:=abc, 50;
Path_20;
WaitTime 0.5;
ENDPROC
BUT I can't return interch with below codes
PROC main()
ActUnit STN1;
WaitTime 0.5;
Path_10;
WaitTime 0.5;
DeactUnit STN1;
WaitTime 0.5;
ActUnit INTERCH;
IndAMove INTERCH, 1\ToAbsNum:=abc, 50;
Path_20;
WaitTime 0.5;
ENDPROC
AND THİS İS MY ERROR MESSAGE
50156: Not an independent joint
Description
Joint INTERCH is not configured as an independent joint.
Actions
Modify the program or configure the joint as an independent joint.
How can I rotate interch axes ?