Move indipentently one external axis

Elchico11

Hello i've a robot that has 2 external axis. The problem is the cleaning guys in the night always move "manually" one of the external axis.

Since this robot has more than 1 homeposition i would like to have reset the position of the Axis 7 and 8 wherever the robot is.

For now i wrote this small codes but it works only for the axis 1-6. it give error with 7 and 8.

    PROC Init()

        joint :=CJointT();

        joint.robax.rax_8:=-1.30686;

    ENDPROC

Thanks.

lemster68

How do you use those axes?  Independent mode, coordinated or a mix of both?

Elchico11

lemster68 said:

How do you use those axes?  Independent mode, coordinated or a mix of both?

Coordinated i think (i'm not sure how can i check it)

SomeTekk

Look at a jointtarget in Program Data. External axes are NOT declared ... rax#

It is more likely the instruction you are looking for is:

joint.extax.eax_a (1st logical external axis - usually) :=3.14159;
joint.extax.eax_b (2nd logical external axis - usually) :=-1.30686;