Dear All,
I am new in robots, so I want to know, if there is more profitable solution, for the following.
My robot get plastic boxes from pallet and place them on the conveyor. The boxes got a label. The label must be placed in a way, facing the conveyor. There is sensor, which tells me, if I need to rotate the plastic box over the Z axis on 180 degrees or not.
On conveyor input, I use 3 position registers:
- PR[1] just in front of the conveyor
- PR[2] just over the input of conveyor
- PR[3] another on the conveyor.
There is good reason to use three points instead of 2 and Tool_Offset.
I don’t want to modify PRs.
In the TP program, I did the following:
- According the sensor, I put R (rotation) value in R[1] register. I my case if there is no need to rotate, the value is 105 defrees, if I must rotate, the value is 285 degrees.
- I use another PR[10], I copy first PR[1], edit PR[10,6] = R[1]
- Next I use PR[10] in motion instruction.
In the same way I do with PR[2] and PR[3].
I hope, that you get the point.
Is there more elegant way, to do this transformation?
Regards,
Svetozar Yolov