IRB800 on a Travel Track

AndrewN

Hi Guys, I'm trying to put an IRB 800 (IRB 140 + IRB 660) on a travel track. I've built the controller system a dozen different ways but can't seem to get the robot to coordinate with the motion of the track. In other words, the IRB 800 works great: the 140 coordinates with the motion of the 660 and a headstock (L-type positioner) but when the track is moving it doesn't account for the motion of the track. I've also been using RS 5.61, I didn't see an easy way to do it in RS 6. Any ideas on how to get the track motion through the kinematics to the 140? The 140 is mounted on the 660 and the 660 mounted on the track and as far as I can tell the controller should know this but it doesn't. I'll be happy to walk though my process if it would be helpful. I got it working by rebuilding the 660 and track as one complete mechanism but it seems to me that there should be an easier way to do this. And more than anything, I want to know WHY! Thanks in advance! -Andrew