All the programs are robot jobs
Posts by Edward98
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Dynamic-Speed-Robot-1 has as group R1 and Dynamic-Speed-Robot-2 has as group R2.
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Good day everyone,
At our company, we have a robotic system where two robots have to move down at the same time independently at a variable speed.
Currently we are using a main program with as robot group - NON Group. then we call these two program through a PSTART.
Example:
PSTART Dynamic-Speed-Robot-1 sub 1
PSTART Dynamic-Speed-Robot-2 sub 2
PWAIT sub1
PWAIT sub2
Dynamic-Speed-Robot-1 contains the following:
WHILEEXP B021<>1 // While B021 is not equal to 1
GETS PX001 $PX001 // Get current position store in P001
CNVRT PX001 PX001 UF#(1) // Convert to correct userframe
GETS D023 P001 (3) // Get Z value of P001 and store in D023
ADD D023 1000 // Add 1.0 mm to D023
SETE P023 (3) D023 // Set D023 (Current Z value + 1 mm) in P023
MOVL P023 V=D020 PL=0 // Move to P23
ENDWHILE
and Dynamic-Speed-Robot-2 contains:
WHILEEXP B031<>1
GETS PX000 $PX000
CNVRT PX000 PX000 UF#(1)
GETS D033 P000 (3)
ADD D033 1000
SETE P033 (3) D033
MOVL P033 V=D030 PL=0
ENDWHILE
As you can see are these two identical programs were the current position of the robots is asked an then the Z is lower by 1 mm, until a robot specific byte is set to 1. In case this happens the robotprogram of the robot needs to stop while the other robot is still moving down until its specific byte is set.
during testing, we noticed that regularly 1 of the 2 robots does not update the position resulting in it not moving down.
When one of the two programs is off, the remaining robot works according to the programmed program. Or at time when we keep the speed the same for both robots.
Now my question to you is how can I make sure that I can send two robots down with their own speed and position each?
I am looking forward to your reply,
Kind regards,
Edward