Hi guys
I have a very small experience in the Robot world, and kindly need help from someone who knows better then me.
I have a YRC100 controller, with a total of 12 outputs used to open and close grippers, mounted on the arm.
In the JOB it is fairly easy i set the DOUT related to each gripper so everything works, but i am having some issues when in Teach Mode.
The problem is for every gripper i have 2 outputs that i use depending on the scenario Ex:
(DOut 1= ON ) AND (Dout 7=ON) => GRIPPER1 CLOSE
(DOut 1= OFF ) AND (Dout 7=ON) => GRIPPER1 Open Low Pressure
(DOut 1= OFF ) AND (Dout 7=OFF) => GRIPPER1Open High Pressure
(DOut 2= ON ) AND (Dout 8=ON) => GRIPPER2 CLOSE
(DOut 2= OFF ) AND (Dout 8=ON) => GRIPPER2 Open Low Pressure
(DOut 2= OFF ) AND (Dout 8=OFF) => GRIPPER2Open High Pressure
and so on until GRIPPER 6
My problem is i want to be able to control same sequences also in teach mode for the operators, for example by pressing KEY 1 i CLOSE , KEY2 OPEN Low Pressure etc.
But i can only allocate one DOut to each key. And moreover i want to avoid telling operators to remember Sequence of KEYS.
I thought about MACROS but i dont know if i can associate Macros to KEYS and if the code in the macro is executed in teach mode.
Or if i can use IF PANEL to execute a Macro?
I dont even know if this is duable or not.
Hope what i wrote is clear enough......if not please ask me more details and i will try to explain better.
Thanks a lot for your help guys.