Trajectory control

[jopeagar]

Hello All,

I´m working with a FANUC LR Mate 200 iB. I have to develope some applications with a computer for controlling the robot through Ethernet. For it I am using the Visual Basic biblioteque for developing those applications. I have a problem: I need to control the trajectory of the robot in real time, and I can´t wait to stop the robot for become a new motion. It is possible to do??

Thanks

[Jim Tyrer]

Sounds interesting. maybe I can learn something here too...  ;D

Which controller are you using?

Never tried what you are doing, have heard of people using a robot/controller as a "motion server" with positional commands from external CPU, always
been intrigued by the idea.
If you are able to change the values of a series of PR[ ] registers with a karel routine, and be far ahead enough to be done by the time the motion pointer
catches up, it should be possible. Problem is to predict where the motion pointer will be.

[jopeagar]

I am using the R-J3 controller. I have yet done what you wrote. I change the values of a positional data in a Karel program through an application programmed whith Visual Basic bliblioteque (FRRobot), the value changes but not trajectory. The Visual Basic biblioteque is aviable with PC Developers Kit software.

[Jim Tyrer]

tried a PATH variable yet? If you declare tool_path : PATH (not quite as simple as that) and then
can change values for tool_path[1]......tool_path[n] with VB via karel then you might be able to control a trajectory.
Can do all sorts of fun stuff with a path.

[jopeagar]

I have worked yet with path nodes. I can stablish a trajectory with some points but I can´t modify those nodes when robot is moving. Move along <path_name> does not refresh its variables during its execution.

Thanks for worry about my problem.

[cteixeira]

Hi,

where i can take thislibrary or soemhow to write a similar library to comunicate with the robot through ethernet, change Points amd other stuff??

Nice to hear some people are able to do this without roboguide...  i want to build a small application to send my own points ...this points i will catch from other processes and send to robot.

Best regards

[Lerak]

Your idea is pretty good, but actually the problem is that the motion controller is still the robot controller.

Usually, the motion controller needs to read few points to predict path (think of a arc or circle for exemple), so if you change dynamically the position at time of motion, it's too late, the Fanuc's controller has already "crunch" these data.

[cteixeira]

Ok, i understand what you are saying... but at least i want to control the robot... with simple commands through Ethernet... this is easy way to test some stuff.

It is possible?

Thanks for your reply.

[Mlasenby]

That Idea sounds sweet!!! what is: Visual Basic biblioteque? googled it and the results came up in foreign languages.   

[cteixeira]

It is a library ... group of functions you can use to comunicate with the robot controller.

Can you send to me this library you used?? If it is possible of course...

Best regards