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External Axis Value Copying...

paul_gkn
paul_gkn ✭
in Robot Controller
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.

Comments

  • mattdavis
    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
    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...

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