How do I sync another machine with ABB Robot via PC SDK ?
I am creating a shape via MoveL commands (with the pendant) with an ABB Robot that we have here.
Whenever I reach a specific point I need another machine to perform a specific action.
I have tried the following:
- Subscribe to MotionPointerChanged event of the first task (in controller.Rapid.GetTasks()). this works BUT there is a Problem: This event has a delay of a second or 2. I've looked for other events but could find none that I can use.
- I tried to modify the Pendant program and modify the MoveL variable from the PC SDK, this worked and I had hoped to be able to get the position every 0.1 second, but I was only able to get the position the robot is moving towards and not the exact position in that specific time. So I cannot reliably predict when the robot is about the reach a corner.
I am considering something like the following.
In my current situation I attempt to send a signal to another machine when the robot reaches point C.
Point A ----------------------------> Point C (signal comes in too late)
Perhaps I can add another point B, where I signal my other machine, and anticipate reaching Point C. BUT I am not sure if this would work in a straight line....
Point A -----------------> Point B ---> Point C
So, How Can I sync our ABB robot movements with another machine we have here without delays?