Hello,
See my code (DX200) :
/JOB
//NAME PRISE_CHARIOT
//POS
///NPOS 2,0,0,1,0,0
///TOOL 1
///POSTYPE PULSE
///PULSE
C00000=2,-143725,-158968,70165,-68865,0
C00001=2,-143725,-158968,70165,-68865,0
///USER 1
///POSTYPE USER
///RECTAN
///RCONF 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
P00100=0.000,0.000,0.000,0.0000,0.0000,0.0000
//INST
///DATE 2018/02/02 13:52
///ATTR SC,RW
///GROUP1 RB1
///LVARS 2,0,0,0,0,2,0,0
NOP
'APPROCHE
MOVJ C00000 VJ=10.00
'
'VERS TOP POS
SETE P100 (3) 2400
MOVJ P100 VJ=10.00
*SEARCH
'VERS START SEARCH POS
SETE P100 (3) D010
MOVL P100 V=100.0
'RECHERCHE
SETE P100 (3) 0
MOVL P100 V=100.0 SRCH RIN#(1)=ON DIS=0.0
'CARTON TROUVE?
GETS LB000 $B002
JUMP *ERR_SRCH IF LB000=0
GETS LPX000 $PX003
CNVRT LPX000 LPX000 UF#(1) TL#(1)
GETE D020 LP000 (3)
'VACUUM ON
*VACUUM
DOUT OT#(9) ON
WAIT IN#(9)=ON T=10.00
IFTHENEXP IN#(9)=OFF
JUMP *ERR_VAC
ENDIF
'VERS TOP POS
SETE P100 (3) 2400
MOVJ P100 VJ=10.00
'SORTIR DE LA ZONE CHARIOT
MOVJ C00001 VJ=10.00
PULSE OT#(505) T=2.00
'FIN DU PROGRAMME
RET
'
'ERREURS
*ERR_SRCH
'VERS TOP POS
SETE P100 (3) 2400
MOVJ P100 VJ=10.00
DOUT OT#(522) ON
WAIT OT#(522)=OFF
JUMP *SEARCH
'
*ERR_VAC
DOUT OT#(524) ON
WAIT OT#(524)=OFF
JUMP *VACUUM
'
END
At the line “MOVL P100 V=100.0 SRCH RIN#(1)=ON DIS=0.0”, the robot moves top to down (h=1580mm to h=0mm; relative to UF#1), searching for a cardboard on a pallet. It should follow a line as it is a linear motion.
But the gripper gets angle during the motion, which is annoying because the gripper needs to stay horizontal during the search motion.
I also tried with PL=0; same result.
I am able to move manually without getting angle, so it has nothing to do with non reachable positions.
Could somebody please explain me why this happen?
Thanks,
Benxi