Offsetting a Program and Running an Array/ Queue

C_Hoover

I'm currently working on a project that will have two stations, both are locating product with a back left corner registering stops. Station 1 or 2 will be selected using a momentary push button for each station. Each station may or may not be running the same program. 

What I would like to do would be to set two Datum points at back left of each station and reference that 0,0 location to run all my programs off of. If possible I would like to be able to just program one station and then have that program be able to run on either station without having to program it for both stations. For example I'm familiar with CNC mills with G code and can run multiple parts using G54,G55,G56, ect. commands. I'm not sure how to do that or if its even possible within the UR programming with the pendant. 

I would also like to have it set up so that say station 1 is running and they have station 2 all set up and ready to go they can push the button to run station 2 but it won't run until its done with station 1. So essentially a FIFO array that the robot will be scanning in a parallel thread. 

I appreciate any and all help on the situation. 

matthewd92

You could set up two features, one for each station. Then in your program you would use those features to define all of your moves to. Set up a variable that you use for calculating the waypoints. This idea only works with calculated waypoints. You would assign the variable the feature coordinates that you are currently using and then execute your motion. We do this with rotary assembly tables where we have two assembly fixtures that rotate so the robot has a side and the operator has a side.

The other option is to use sub programs or if statements/switch statements and setup taught waypoints using a feature. This will require using a movel motion though since there’s no way to use a feature with a movej using the touch pendant. 

To to accomplish this you’ll need to setup an array in a thread that is building your queue. Remember arrays(lists) are not dynamic and so you’ll need to build a prepopated list and maintain the list length. Also there are no built in push and pop methods for lists so you’ll need to handle pushing items into the list and then shifting the list when you process an item from the queue. 

C_Hoover

Thank you, that is what I ended up doing, using relative waypoints from a variable waypoint I think I have accomplished what I was seeking out to do. I have push-buttons incrementing a variable value for my queue which also appears to be working as long as I have a reset variable function after the action is performed.