RobotStudio event

Question on axis configurations

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YoDoug
YoDoug ✭
in RobotStudio
I am having some issues with axis configurations. If I use anyone of the available options in the configuration tab of each point it gets an error when simulating. If I go into Rapid Robtarget and edit them to a different value they work. One of the moves in question at the 2-3 second mark in the video linked below. The point is driven from a generic RobTarget that is populated with the correct target info based on the variable for the pallet number. code below. Any ideas? TIA

https://youtu.be/BM8dVJjZKTQ

 PROC main()
        Pno:= 1;
        LoadPalletLS2;
        Pno:= 3;
        LoadPalletLS1;
        Pno:= 12;
        LoadPalletMachine;
        Pno:= 16;
        UnloadPalletMachine;
        Pno:= 18;
        UnloadPalletLS2;
        Pno:= 29;
        UnloadPalletLS1;
    ENDPROC

PROC LoadPalletLS2()
        SetPno;
        PickPalRack;
        MoveL offs(LS2,0,75,0),v1000,fine,NSR160\WObj:=Shelves;
        MoveL offs(LS2,0,0,0),v1000,fine,NSR160\WObj:=Shelves;
        OpenGripper;
        MoveL offs(LS2,0,0,60),v1000,fine,NSR160\WObj:=Shelves;
        MoveL LS_Home,v1000,fine,NSR160\WObj:=Shelves;
    ENDPROC

 PROC SetPno()       
        GetDataVal "Pal_"+ ValToStr(Pno), Point1;
        IF Pno >= 1 AND Pno <= 15 THEN 
            PR_Home := PR_Home1;
        ENDIF
        IF Pno >= 16 AND Pno <= 30 THEN 
            PR_Home := PR_Home2;    
        ENDIF      
    ENDPROC

PROC PickPalRack()
        OpenGripper;
        MoveL LS_Home,v1000,fine,NSR160\WObj:=Shelves;
        MoveL PR_Home,v1000,fine,NSR160\WObj:=Shelves;
        MoveL offs(Point1,0,0,60),v1000,fine,NSR160\WObj:=Shelves;
        MoveL offs(Point1,0,0,0),v1000,fine,NSR160\WObj:=Shelves;
        CloseGripper;
        MoveL offs(Point1,0,75,0),v1000,fine,NSR160\WObj:=Shelves;
        MoveL offs(Point1,0,75,705),v1000,fine,NSR160\WObj:=Shelves;
        MoveL PR_Home,v1000,fine,NSR160\WObj:=Shelves;
        MoveL LS_Home,v1000,fine,NSR160\WObj:=Shelves;
    ENDPROC

Comments

  • EricH
    EricH ✭
    edited August 2019
    Options
    Maybe you didn't use the hook to show all available configurations? It is called "Include Turns".

    BTW: your robot can work more efficient with zones.
  • graemepaulin
    graemepaulin mod
    Options
    you could also use confL\off for the part of the path that is causing issues (turning back on (confL\on) normally when you are away from obstructions and probably with a MoveJ so the axis can reset)

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