Hello!
I'm looking for a way to edit PR values using multitasking.
In this application, we need to use several PRs to be aplied both to the frame and tool to the same point.
E.g.:
P[1] Offset, PR[10] Tool_offset, PR[11]
P[2] Offset, PR[10] Tool_offset, PR[11]
P[1] Offset, PR[12] Tool_offset, PR[13]
P[2] Offset, PR[12] Tool_offset, PR[13]
In order to edit the PRs to the intended coordinate I'm using a simple program with arguments
E.g.:
PR_OFFSET(id_pr ,x, y, z, w, p, r)
;PR[GP1: Ar[1], 1] = Ar[2]
;PR[GP1: Ar[1], 2] = Ar[3]
;PR[GP1: Ar[1], 3] = Ar[4]
;PR[GP1: Ar[1], 4] = Ar[5]
;PR[GP1: Ar[1], 5] = Ar[6]
;PR[GP1: Ar[1], 6] = Ar[7]
So I end up with something like this:
CALL PR_OFFSET(10, 1, 0, 0, 0, 0, 0)
CALL PR_OFFSET(11, 0, 1, 0, 0, 0, 0)
CALL PR_OFFSET(12, 0, 0, 1, 0, 0, 0)
CALL PR_OFFSET(13, 0, 0, 0, 1, 0, 0)
Problem is everytime this code runs, the robot goes to a complete stop for around 1-2sec.
Each time the robot picks a part and executes the main program, this code will be executed more than 20 times, which gives a total of at least 25sec of cycle time wasted.
Any idea on how can I overcome this?