Good morning,
I have a logically issue that I'm hoping to get a second or third perspective on.
I'm programming a gp110 on the yrc1000 system, to polish tubes. The program needs to include a section where the robot goes over and applies compound to the wheel.
Currently I'm creating a shift offset value by using SETE P000 (3) -10000
and then I reset an integer variable to(I000) 0 and create a loop checking that variable, and if the variable is under x (wasn't sure how many passes I'd need to do but it's seeming one is fine) then the robot will go apply the compound.
The robot turns the spindle on and approaches the compound where I then turn the shift on. The robot will move about 2 mill down and return to the initial level before incrementing down x times, using ADD P000 to P001, each loop increments I000 by 1
The problem I'm having here is that whenever I run a new cycle those variable will reset and the robot will start from the top, where it'll need to be fresh compound or the robot won't actually apply anything.
After doing some reading, I'm thinking I can use GETS PX003 $PX001 in order to save the robot position where it was when last applying compound. I just don't know how to add/call that in to the program I have existing.
My other thought is that I'll have to redesign the stand to move the material to a fixed spot.
Any and all help would be appreciated.
