R2 won't Shift (SSFTON)

    • New

    Hi,

    I am working on a DX100 machine with two Robots + two Stations: R1, R2, S1, S2

    We have a part position detection installed to allow relocation of a weld seam.

    I prepared Jobs to test the function and if I use R1 everything works fine (R1S1:S1). A macro Job get's the Shift value, writes it into P020. In the work job I use SSFTON P020 and SMOVL --> R1 moves to the desired position


    If I use R2 it does not work however. (R2S1:S1)

    The Robot ignores the SSFTON P020 instruction and keeps moving (SMOVL) to the same spot, whatever the value in the P020 variable.


    A normal SFTON Shift + MOVL instruction DOES work properly with R2.

    Up to now I did NOT try converting into MTF, even it is a synchronous movement, but the Shift stays on Y axis only and it DOES work with R1. I will try it now, but want to understand why one robot works but not the other.

    • New
    • Best Answer

    OK, Here is the solution. :person_facepalming_light_skin_tone:


    Needed to add an option to the Shift Instruction to make it work:

    SSFTON P020 RB2

    Not needed for R1 and not needed for SFTON with R2. I don't know how it makes sense :grinning_squinting_face:

    You also do not need to add it to the SSFTOF.

  • Haze January 11, 2025 at 7:03 PM

    Selected a post as the best answer.
    • New

    when the Robot number tag is ommited, the default setting is RB1, thats why you dont need to select R1 for it to work on RB1.

    For SFTOF it likely ends Shift on all robots unless a specific 1 is specified with the Tag.

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