Hello everyone
I have a KRC2 robot which is intended to be used to palletize wood. It recently incorporated a foam vacuum gripper, as well as a proximity sensor that emits a digital input signal when it approaches the wood. What I intend to do is have the robot go down without stopping until it receives the signal from the sensor. Try a fairly simple KRL code that is as follows:
INI
BAS(#INITMOV,0)
HOME = {AXIS: A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}
PTP HOME
WHILE $IN[41] == FALSE
LIN_REL {FRAME: Z -20}
ENDWHILE
LIN_REL {FRAME: Z -40}
$OUT[41]=TRUE
WAIT SEC 3
PTP HOME
The previous code does work, but the problem is that during the WHILE loop, every time the robot goes down 20 mm (as indicated by the following line of code: LIN_REL {FRAME: Z -20}), the robot makes small pauses, I would like to know what code in KRL I can use to perform the same action but without these interruptions, that is, the movement of the robot is continuous until the sensor signal is detected.
Thanks in advance