dr_cronik
Member
Hi All
Im trying to improve the performance of a cartesian Pick and Place system on our plant.
I intend to write a routine to move the robot to a position, which will be passed to the routine before it is triggered.
The basic operation of the routine will be to lift the Z axis to a travel height and then move X,Y axis on the horizonatal plane to the new position. With our current system the Z move completes (.PC) bit on before the horizontal movement is triggered, this results in a slight pause before movement continues.
I would like to merge the vertical lift move into the horizontal move before the final Z destination is reached. The point of merge will be dertermined by a Zone parameter also passed to the routine, this will determine how close the Z axis must be to the target before the horizontal move is triggered. (I have attached a basic diagram, the Zone is shown by the circle, I intend for the P&P to follow the curve of the blue line within the circle)
In short, I want to cut the corner without stopping.
Has anyone tried his before?
I would like to know of a good method to determine when the z axis enters the Zone, I have considered Comparing the Position feedback of the axis but wondered if there was a better method of doing this. Bear in mind that the Z target position and Zone could change each time the routine is called.
All axis are configuired as a coordinate system.
All help will be greatly appreciated.
Thanks
Im trying to improve the performance of a cartesian Pick and Place system on our plant.
I intend to write a routine to move the robot to a position, which will be passed to the routine before it is triggered.
The basic operation of the routine will be to lift the Z axis to a travel height and then move X,Y axis on the horizonatal plane to the new position. With our current system the Z move completes (.PC) bit on before the horizontal movement is triggered, this results in a slight pause before movement continues.
I would like to merge the vertical lift move into the horizontal move before the final Z destination is reached. The point of merge will be dertermined by a Zone parameter also passed to the routine, this will determine how close the Z axis must be to the target before the horizontal move is triggered. (I have attached a basic diagram, the Zone is shown by the circle, I intend for the P&P to follow the curve of the blue line within the circle)
In short, I want to cut the corner without stopping.
Has anyone tried his before?
I would like to know of a good method to determine when the z axis enters the Zone, I have considered Comparing the Position feedback of the axis but wondered if there was a better method of doing this. Bear in mind that the Z target position and Zone could change each time the routine is called.
All axis are configuired as a coordinate system.
All help will be greatly appreciated.
Thanks
