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How to write script to move the robot 65degrees from the base in SEVERAL waypoints?
/ Most recent by meeksy
meeksy Posts: 13 Apprentice
I am packing a box and have 3waypoints for every row that i do. I have 24 rows in total so have around 70+waypoints. Now i want the robot to do the same thing in the next box. The next box is 65degrees differnce with the base. I have found that i could do a variable after each waypoint to get invest kin of that point. Then i can tell it to movel([var+r,var,var,var,var,var]). R being r=d2r(65). Do i have to type this for everywaypoint or can i do a pose add or pose trans? Thanks for any help.
You could also teach 5 pallet wizards, 1 each in a subprogram then use a switch statement to select which pallet program to use based on which box you are filling.
If you you are willing to write some script you could also write your own palletuze sequence by simply just teaching a corner of the box then offsetting that point in x and y based on which row/column you are placing. In that simple script you could also have your rotation and based on box counter make the adjustment.
movel(pose_add(waypoint,poseToAdd), a, v)