More Problem

Well being the new guy at this it is driving me crazy. You guys have helped me a couple of time now hope for one more time. Have a fanuc r-30ia and lr-mate200ic. At the end of the arm there is a five prong hand with grippers at the end of each finger. Need to be able to have the gripper pick up part but only at the 3:00 position. Arm move out axis 6 turn so gripper one is at 3:00 cylinder lowers grabs part and rises again. arm moves to next part and gripper 2 needs to be at 3:00 and so on and so on. Tried RP but didnt work. This is working with vision so the parts are never in the same place on conveyor belt.
HELP please

Try Setting a Reference position to turn on a DO when the Robot is were you want it. You can then use that DO as a permissive to do what you want.


**Going off memory
I think it is under Menue, Set-up, (F1 Type) and select Reference position.