Hi all, I am a long time lurker and thought I'd try to get some help on something I'm stumped about.
I have 4 different parts varying in size, each having between 7-11 points that shift amongst each part that the robot performs work at. With that said, I have around 36 position registers i'm trying to set up, but I need to tell the PLC that I am indeed at the specific PR that It told me to travel to before I can perform any action.
I know that reference position would solve my issue and just send a [DO] to the PLC to say hey I'm here, but I can't check the joint values of reference position against cartesian coordinates of a position register. Is there a way to do this without writing a KAREL program, since I don't have that option installed? I know I could check each PR (X,Y,Z,W,P,R) position against a range like (IF X>100, X<300 THEN...), but I'd have to set up like 36 different PR scenarios in a background logic which seems cumbersome, correct?
Like I said, in my program I'm waiting for the PLC to tell me which PR to move to after work is performed. I move to the PR location and I need to tell it I made it to the exact spot before it allows me to work. I might be thinking to hard into this, but any insight would help. Thanks !