Zero External Axis in Rapid

LiamGwallace

I need reset an external axis to zero using RAPID code. The IndReset command only resets the axis to a multiple of 360 away from the original value.

This is on an S4C robot.

 

What I am looking to do is something like this.

  PROC AxisReset()
    VAR num regAXIS:=0;
    VAR num regFK:=0;
    WHILE regFK<> 3 DO
      IndAMove M7, 1ToAbsNum:=regAXIS, 5;
      WaitUntil IndInpos(M7,1)=TRUE;
      TPErase;
      TPReadFK regFK,"What direction?","","Left","Reset","Right","";
      TEST regFK
      CASE 2:
        regAXIS:=regAXIS-2;
      CASE 4:
        regAXIS:=regAXIS+2;
      ENDTEST
    ENDWHILE   
    !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
    !Axis reset command here
    !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
  ENDPROC

 

Liam Wallace

Steve_Murphy

Hello Liam,

 

Unfortunately there is no command in the RAPID Independent Axis function that will zero the axis after a motion.    I can only suggest that after a reset, move the axis back to zero if that would work.

 

Kind Regards,

 

  Steve