Hello everyone, friends. I need help with an issue. I want to have the robot line up the pieces sequentially, one on top of the other. I set the robot up and down positions. He left the first piece in the down position, where the position of the Z axis is registered as 392. I want the next piece to be left in order of 402, the next one 412 ... until it reaches the up position (762 ). How should I go about this?
Make an offset move with the number times 10 added to the z axis.
var num nIndex
var num nVerticalOffset
FOR nIndex FROM 0 TO 10 DO
nVerticalOffset := nIndex * 10; ! 10mm shift upwards per cycle
! call program to pick up new piece here
! Move to a position above the Drop position
MoveJ Offs(DropPosition, 0,0,nVerticalOffset+25),v1000,z10,Tool;
! Move to Drop position
MoveJ DropPosition,0,0,nVerticalOffset),v1000,fine,Tool;
! put gripper-release here
! Move to a position above the Drop position
MoveL Offs(DropPosition, 0,0,nVerticalOffset+25),v1000,z10,Tool;
ENDFOR
