Points Question

Drake

Hi. I made a program that receives a pair of point (origin and destination) in a array (Pontos) and moves objects. Always passing the same points (confirmed several times) the movements aren't the same. It I would like to know why. It seems that it doesn't execute de SetDo synchronized. Thanks

3 examples:

 

http://www.youtube.com/watch?v=HuCHJaV9hf4

http://www.youtube.com/watch?v=3UtMTprTHc0

http://www.youtube.com/watch?v=JmpULejhW0E

 

 

Program:

 

PROC Path_1()

  var num j := 1;

  FOR i FROM 1 to nrElements DO !nr Elements in the array

     MoveL Target_10,v1000,fine,tool0WObj:=wobj0;

     MoveL Pontos{j},v1000,fine,tool0WObj:=wobj0;

     SetDO PickSignal,1;

     MoveL Target_10,v1000,fine,tool0WObj:=wobj0;

     j:=j+1;

     MoveL Pontos{j},v1000,fine,tool0WObj:=wobj0;

     SetDO PickSignal,0; j:=j+1;

   ENDFOR

ENDPROC

Drake2009-08-13 13:24:52

Klaus

When you simulate with eventmaneger you need at least 0.2  waittime from setting do and to the robot moves. Try out the time of waiting. dependst off CPU and grafic. Had same problem but solved it with waittime both before and after setting DO

 

BR Klaus

Drake

thks, that solved the problem 

Klaus

Happy to help

 

BR Klaus