Independent moves
abenaki
✭✭
Hello,
Is there a way of ready the external axis position other than CRobT() or CJointT()? e.g. monitoring its value to take some action when a certain position is reached?
Is there a way to know if an independent move has been initiated but not completed?
Is there a concept of zone relating to independent moves?
Any clarification would be appreciated.
Thank you
Michel OBomsawin
0
Comments
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Hi Michel
I usually use the following trick to do something in a certain position.
1. Define a simulated signal in the EIO
2. Define an interrupt monitoring this signal
3. Write the TRAP, doing what you need.
4. Move with a TriggL/J triggering the simulated signal at the position you're intersted in.
NOTE: Usually, writing in the trap any blocking statements like WaitDI or WaitTime is not a good idea.
Another way is using a MoveSync. I usually use this instruction to record all the position the robot reach, to be able to move bakwards to home if the program is stopped.
Another way is using world-zones, especially if you are interested in a volume of space instead of a specified position.
Hope this can help.
Claudio
0
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