External Axis Value Copying...

paul_gkn

Does anyone know how to read the position of an external axis then copy the value to another target whilst adding a given value to the copied value?

 

I have several hundred targets all with slighty different external axis values and need to move a common target after each. The common target needs to position the external axis 45 degrees from the last point. I want to keep my logic code as short as possible so ideally i'd like to find a away to read the external axis value, add 45 degrees to it, then apply this value to the preprogrammed common point. Any ideas?

 

Hope this makes sense!

 

Thanks,

 

Paul.

mattdavis

I have done similiar things in rapid with

actpos := CRobt();

newpos.extax.eax_a := actpos.extax.eax_a + 25;

but if you require it to be exact then you need to make sure the robot is stopped or have a fine point before you use Crobt. 

paul_gkn

Thanks Matt,

 

I've tried something similar but the pause at CRobt() was unacceptable.

 

I've got something from ABB UK that I think might work.

 

Cheers...