I‘ve an issue with an cartesian robot with two vertical axis.
I would control these two geometrys with the works RobotController but however only one vertical axis is possible for the RobotController. The axes must be switched by loading to the first mountplate and by unload to the other mountplate.
Also the flow was an issue that comes from the two axis. If a mashine requests a new raw part the gantry has to get a new raw part before for the part exchange.
My solution approach for the axis issue is as followed:
With PythonKinematics and a script named AxisSwitchScript i made a switching function based on the requested tasks from flanged RobotPositioner. The Problem i‘m see is in the mountplate link that includes the partcontainer. I’m not able to switch between this two mountplates so that the part will be rigth transported.
And for the flow issue my approach is as followed:
I put an works process in both gripper and with these i decoupled the flow and made a intermediate step with changing the id and then the mashine has a need for this id.
Is it possible to switch the linked links in robot controller?
Is here my approach with an works process in both gripper possible or is there an better solution for it?
Best greetings and thanks in advanced
KinematicSwitcherAbstract.vcmx (1.94 MB)