TP program to do circles

[bnhnt]

Ok so Napierian’s program can change angle on the fly?
That would be cool but still messing with it I think im missing a lot if it is no trouble can u help with a better example of his ?
I got the one you wrote to work perfect, I just make a new user frame and It changes the plain it works on.  but if I could do on the fly that would be sweet    thanks

[Robotter]

It is quite busy time for me now. If you could wait for 2-3 days i will definitely try and help you out. 

[bnhnt]

Take your time. That’s what’s nice about this forum you can always come back and read later.
I appreciate any and all help when it can be provided

[Napierian]

Sorry for the delay in response.  Yes, the basic program I have does modify its angle on the fly.  Unfortunately, what I posted was my original attempt (copied from my notes), and probably will not work perfectly.  I know I had to play with user frames to get things to properly follow the angle of the gun.  I also didn't post the actual motion portion as that is almost identical to robotters program motion.

Good luck with this

[bnhnt]

PR[1]=LPOS
UFRAME
   =PR[1]
UFRAME_NUM=x
PR[2]=LPOS

Thanks Napierian,
You show 2 lpos positions but only show 1 that changes
Then if I’m reading it correct the user frame is PR[1]
But never change PR[1] in the program
Can you explain this program in a little more detail
I like what it is trying to do and would like to learn how
Thanks for any help

[Napierian]

OK, the first LPOS used with PR[1] is to get the center of the hole using the default user frame.  The next line changes the user frame from the default to correlate with the angle and orientation of the TCP. (should really be UFRAME

• =PR[1]).  The next line changes the system to the new temporary user frame.  The last line there gives the PR[2] the position of the origin for this new user frame. 

In theory, if everything is set right, this will always make the positional data for position PR[2] = 0,0,0,0,0,0 (its really a quick way to make all of the values 0 for the calculated positions done later on.

How I would run this program is in the main program I would have only 2 lines per circle (fewer if the radius is constant)
R[30]= radius in mm
CALL CIRCLE

Hope this helps, and if you have other questions I will gladly try to answer.

[bnhnt]

Thanks !
I’m going to try and get this working and will let you know how it goes thanks for all the help

[mani_mech031]

@Napierian can you send the example of main program calling this sub program which makes x,y,z,w,p,r  0,0,0,0,0,0 please forward as soon as possible... thanks in advance for your kind help

[Napierian]

To call this program requires nothing more than moving to the center of the circle, setting the radius into a register then calling the subprogram

L[1:hole center] 2000mm/s fine
R[2:hole radius] = 2.5
CALL Circle

After the cut, the robot will be back at position 1, and you can cary on as normal.  You will only need to adjust the register if your hole size changes

Good luck

[mani_mech031]

@Napierian,thanks i tried it , it worked very well... is their such methods for circle where the torch angle should me maintained 30 to 45 degree all around the circle (like bevel cutter). thanks in advance

[Napierian]

Hmm, thats a whole new ball of wax.  The simplicity of the original program means it would require some tweaking to be able to give a beveled cut all the way around. 

I am sure you could modify it to do this fairly simple though.  The following is just some brainstorming on whatmight work.

I would use a second register for the cut angle
In the first portion where the subprogram calculates/creates the 4 corners of the circle I would modify the w,p and r values to match the angle change needed.

So, the 5 points used will end up being as followes (r = radius & a = angle)
1: origine (center of circle) [0,0,0,0,0,0]
2: x pos [r,0,0,0,a,0]
3: y pos [0,r,0,a,0,0]
4:-x pos [-r,0,0,0,-a,0]
5:-y pos [0,-r,0,-a,0,0]

If you use a positive angle it shouldbevel one way, and if its a negative angle it should bevel the other.

Good luck, and let me know if this works (I only spent 10 min thinking on it)