Run RoboGuide simulation program in parallell with normal TP program?

Hi all,

I've been using simulation programs for making simple movement programs as well as attaching/detaching parts to/from tools/fixtures.

This works fine when robot is standing still an for example picking or placing.

Now I want to run a simulation program (RUN instruction from my TP program) in parallell.

Basically, I want the robot to pick a part while moving.

To do this I made a simulation program that's just two instructions:

WAIT DI[1]=ON

Pick [part] from [fixture] with [tool]

In my TP program I was planning on doing something like this:

RUN (simulation program)

J P[1:startposition] 100% CNT100

L P[2:pickup part] 1500mm/s CTN100 DO[1]=ON

L P[3:next position] 1500mm/s CNT100

WAIT 5 sec

DO[1]=OFF

I have mapped DO[1] and DI[1] to Rack 34 (Flags) so that when I turn on DO[1] in my TP program, DI[1] will be ON.

But I cant get the simulation program to run in parallell..

Basically I want to time the Simulation program to run when the robot is at the correct position, but the motion instruction must be with CTN100 in order to have the robot make the "pick" on the go.

If I make all the motions in a simulation program I cant get the timing to work. With CNT100 it will read ahead and the part will be "graphically" picked long before the robot is at the pick position.

Any Ideas on how to solve this?

Case closed.

Found out that there was a properties page for the simulation program in which I could turn off the motion group mask (since the simulation program only contained logic/graphic instructions.