Roles No Roles
Country US - United States
Company (optional) Hydro-Gear
Depending on how you want your program to function there's a couple ways to do it. In the example @student gave, the operator will be asked for a number and then based on that number it will run everything in that specific case. If you wanted the robot to go from case to case to all the way through the switch you would want to do something along these lines:
option = 1
I use this approach to control the flow of my programs easily. If you were in case one and based off of a certain condition that was met during that case, you could use an if-statement to make the decision on which case to run next. Lets say case 1 is trying to pick a part from a specific location and based on if the robot found the part or not determines what case you want the robot to go next.
if part_found= True
if part_found= False
I hope that makes sense and helps out.
Okay, that makes sense now. Thanks!
@etienne_samson In this situation I hadn't copy and pasted any of the pallet wizard stuff. It was just completely random. It seems really odd to me have it was off, but it was only some of the points in that robot and not all. Thanks, I appreciate that.
@matthewd92 I never saw that bug. These two things are the only things that I have seen that could possibly be bugs. Otherwise the software update has been working great.
We've been in touch with UR concerning these two things and they don't seem to have any answers yet. Just thought I would take a shot and see if anyone else was having weird or random bugs like this. If I find out any new information, I'll be sure to pass it along to everyone.
@C_ROEHl I have found a way that has been very successful for me. I create a variable called i_correct_part, I will then place inside of the loop the pallet wizard. The loop will continue to execute as long as the i_correct_part variable does not equal 1. Whenever the robot finds the part I set that variable equal to 1 and the robot goes on to the next step in the process. If the robot does not find a part it will continue on to your next location in the sequence.
Here is an example of one of my pallet wizards.
Gripper Move65% (1)
Gripper Close (1)
If RQ_pos≥193 and RQ_pos≤195
ElseIf RQ_pos≥228 and RQ_pos≤230
Gripper Move65% (1)
In this pallet wizard I used the list feature of the pallet wizard. In order for the robot to exit the loop the if statement must be met and then the variable is assigned 1 and the loop is complete. The else-if and the else are for missing and wrong parts. If it finds a wrong part or the part is incorrect, it will try twice before alerting the operator with a popup.
It is important to note that before you enter this loop to always be sure the variable you are using gets assigned a value other than 1. If it doesn't the loop will never execute.
I hope this helps!