I WANNA BE SAFE LOL

My case, create user function

here sample.

Good idea, but needs improvement.

You store L and J movements, but in homing routine you only use J movements. In some cases this will lead to collisions. So you need to store whether it's a J or L movement and do the correct movement in homing (Analyse the sequence of L/J and do the correct movement, it's not just doing the same type of movement as forward!!)

What happens f..e. after robot has picked up a part, and moved a bit away? Moving backwards won't be an option in many cases.

Quote from hermann

Good idea, but needs improvement.

You store L and J movements, but in homing routine you only use J movements. In some cases this will lead to collisions. So you need to store whether it's a J or L movement and do the correct movement in homing (Analyse the sequence of L/J and do the correct movement, it's not just doing the same type of movement as forward!!)

What happens f..e. after robot has picked up a part, and moved a bit away? Moving backwards won't be an option in many cases.

thats right.

Final routine arranged consider each runnig condition (Current step, Interference status.. etc)

Quote from thertem

hey thanks for the advices

but i didn't get it what you're defining in the rABC proc can you explain me those moves?

Create the program.

You can see how the array data and variable data are changed and recorded. In any case, you can think of the rABC program as a general moving sequence

Quote from thertem

I think i create everything and i understand the structure a little bit but i couldn't understand how im gonna use this and how is it gonna make my job easier?

thanks a lot

PROC main()

nIndex := 1;

LiM p1Home, v500, fine;

LiM p2Corner, v500, fine;

LiM p3Target, v500, fine;

Return;

EndIF

PROC rMove_to_Home()

WHILE nIndex > 0 DO

MoveL pPosRec{nIndex}, v300, fine, tool0;

nIndex := nIndex -1;

EndWHILE

EndPROC

PROC Lim(robtarget Point, Speeddata Velocity, zonedata Zone)

! Linear Move

nIndex := nIndex + 1;

pPosRec{nIndex} := Point;

MoveL Point, Velocity, Zone, tool0;

EndPROC

I hope the sample program will help you.