TP program to do circles

[Fabian Munoz]

Hi :

I'm doing a glue application where I'm gluing around circular pins, therefore I have to "go around in circles". I'm  talking 10 mm diameter and I have to overlap, so basically is a circle of 4 points

I'm looking for a TP program to do that based on teaching the center and writing 10 mm on a register.
In other words I need:

Move L, 500 mm/s fine
R2=10
Call Circle
Move J ,,,,,


Thanks


somar

[Robotter]

Hello Somar:

It is actually not very difficult. You need to use registers and position registers to achieve this.

I can help you with this program if you have time to wait for 2-3 days.

[Fabian Munoz]

                    WHAT !!!!!!!    You're not gonna do this during the weekend for me



Just kidding, take your time   

[Napierian]

I have written this type of program for one of our customers.  I doubt my boss would like me to submit the program here, but basically I used a temporary tool frame set to the current position (Center of the hole) and used a register to give me a radius.  using the register value I set the circle to go (+x,0) (0,+y) (-x,0) (0,-y).  This worked very well for the waterjet programs.  It took a bit of fiddling to be able to get things to work perfectly, and I didn't need overlap.  The nice thing with this little program is that it worked on any angle, as long as the tool was perpendicular to the part

Good luck with this

[Napierian]

*Update* I looked at the program, and it is actually  the User Frame that I play with, not Tool Frame.  I guess that is what I get for trying to post info from memory. 

[Robotter]

Well Somar, Jeff and me share the similar ideas.

I have sent you a set of files on your email and this includes a TP program.

I hope this will work for you.
And yes we will discuss the treat you owe me sometime later!
Good luck with your program.

[Fabian Munoz]

 

Excellent Robotter, simple program just like Jeff said, now I can elaborate on it if I have too.



BTW, Robotter.  I have to learn to send e-mails like yours. The only thing you missed was sending the actual robot  

[Robotter]

I wish i could. 

[achencan]

Hi, Robotter
Could you show the  TP program here ?
Let's learn it.
Thank !

[Robotter]

Hello achencan and everybody else... here comes the program but dont forget you owe me a Beer each

[Robotter]

OOPS! I was a bit too fast!


  1:   ;
   2:  PR[11]=PR[5:ZERO]    ;
   3:  PR[12]=PR[5:ZERO]    ;
   4:  PR[13]=PR[5:ZERO]    ;
   5:  PR[14]=PR[5:ZERO]    ;
   6:  R[1:RADIUS]=200    ;
   7:   ;
   8:  PR[11,1]=R[1:RADIUS]    ;
   9:   ;
  10:  PR[12,2]=0-R[1:RADIUS]    ;
  11:   ;
  12:  PR[13,1]=0-R[1:RADIUS]    ;
  13:   ;
  14:  PR[14,2]=R[1:RADIUS]    ;
  15:   ;
  16:   ;
  17:   ;
  18:  UFRAME_NUM=1 ;
  19:   ;
  20:L PR[1] 2000mm/sec FINE    ;

  21:L PR[1] 100mm/sec FINE Offset,PR[11]    ;

  22:C PR[1] Offset,PR[12]
    :  PR[1] 2000mm/sec FINE Offset,PR[13]    ;

  23:C PR[1] Offset,PR[14]
    :  PR[1] 2000mm/sec FINE Offset,PR[11]    ;
  24:   ;
  25:   ;
  26:  END ;
  27:   ;
/POS
/END

[achencan]

    

[Napierian]

Nice simple program for circles, but it is limited in the X-Y plane only.  The following is part of the code I used.  This would give the ability to adjust the plane to be perpendicular to the tool.  This means it works at ANY angle from 0 degrees to 180 degrees from the origin.  It might take some fiddling to get everything to work right, but it will work as long as the circle doesn't put the robot into limits.  Having an accurate TCP goes a ling way with this.

PR[1]=LPOS
UFRAME

• =PR[1]

UFRAME_NUM=x
PR[2]=LPOS
PR[3]=PR[2]
PR[3,1PR[2,1]+R[30:CIRCLE RADIUS]
PR[4]=PR[2]
PR[4,2]=PR[2,2]+R[30:CIRCLE RADIUS]
PR[5]=PR[2]
PR[5,1]=PR[2,1]-R[30:CIRCLE RADIUS]
PR[6]=PR[2]
PR[6,2]=PR[2,2]-R[30:CIRCLE RADIUS]

[bnhnt]

PR[1]=LPOS
UFRAME

• =PR[1]

UFRAME_NUM=x
PR[2]=LPOS
PR[3]=PR[2]
PR[3,1PR[2,1]+R[30:CIRCLE RADIUS]
PR[4]=PR[2]
PR[4,2]=PR[2,2]+R[30:CIRCLE RADIUS]
PR[5]=PR[2]
PR[5,1]=PR[2,1]-R[30:CIRCLE RADIUS]
PR[6]=PR[2]
PR[6,2]=PR[2,2]-R[30:CIRCLE RADIUS]

This is a nice post but can anyone explain it any further, I looked at the one Robotter posted and it worked just fine, thanks Robotter, but now im interested in this one and need a little more help making this work thanks

[Robotter]

Hello Bnhnt:

Actually both the programs are pretty much the same.

The only difference is that my program works with a predefined user frame whereas Napierian's program creates a user frame at the current location of the robot and works from there.

For example if your robot TCP's current posture is in a inclined plane the profile is traced on a angular frame.

Hope you understand now.