Hi all,
I am trying to make sense of an existing robot program and I'm hoping someone can shed some light on this.
The program is trying to track a part by adjusting a PR used as a OFFSET, PR[x] option, from some BGLogic while the motion is occurring. The BGLogic is adjusting the PR based on some feedback from a compliance device. From what I can tell, it appears that the robot only looks at the PR for the offset at the beginning of the motion, rather than continuously throughout the motion. Can someone confirm that this is how the robot would handle this?
Assuming that you cannot update an offset during motion, any suggestions for better ways to perform this tracking? We have a PushCorp compliance device so we apply a constant pressure, the robot movements would only be to try to keep in the middle of the compliance zone.