Determine robot configuration

ko414du4

Hi all,

I have a multimove independent system with 2 robots facing each other and working on the same piece alternately. I feel there's a better way than defining the same targets twice on both tasks. The targets are referenced on the same workobject. Only the robot configurations are different. 

Is there any instruction, or any way, to calculate robot configuration on a target that is defined from another robot's perspective?

Any comments are much appreciated. 

PerSvensson

One way is to turn off the configuration ConfL\Off or ConfJ\Off but be aware of that the axis can end up in unexpected rotation due to the fact that in this case the axis will take the shortest way.

svoldgaard

You could make a wrapper for your move instruction on "the other robot"

In that wrapper you could then look at the configuration and then edit it.

something like:

proc moveLWrap(robtarget target)
   if target.conf.cf1 = 1 then
        target.conf.cf1:=-1;

   endif
   moveL target ....;
endproc

(syntax not checked)