Independent moves

abenaki
abenaki ✭✭
in Robot Controller

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

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  • claudio
    claudio ✭
    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

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