just point to point?

[Keshka]

After reading as much as I can in the manuals for the Nachi AR controller it looks to me like the robot is
 programed to move from point to point.  Maybe I will know more when I get a chance to fire it up.
Point to point just won't do!  I have seen these things follow a curve and do things like apply
caulking so there must be a way to tell it to follow a spline at a chosen rate.

So am I missing something? (duh! no doubt!)

Also some nice tech at Crystler left a floppy in the cabinet! Here is a list of the files on it:

name                       size                 any idea what they are?
ROBOT.C00   9,056
ROBOT.C01   6,096
ROBOT.CS0   204
ROBOT.E01   5,466
ROBOT.MTI   662
ROBOT.OP0   1,483
ROBOT.PM0   1,566
ROBOT.RPC   9,070
ROBOT.SGD   7,498
ROBOT.SWC   1,404
ROBOT.SWD   5,644
ROBOT.SWL   5,155
ROBOT.TR0   205
ROBOT.V00   1,444
S160F-A.001   4,858
S160F.001   3,295
S160F.010   541
S160F.060   568
S160F.100   445
S160F.101   127
S160F.102   127
S160F.103   127
S160F.122   294
S160F.123   293
S160F.501   3,290
S160F.502   3,290
S160F.701   3,212
S160F.751   3,203
S160F.999   88

[Keshka]

got diggin' around in all those files. Most of 'em are not readable but two of 'em look intresting. Ya'll seen anything like this before?

this one looks like a program I could learn to do: (from the S160F-A.001 file)

1 ' KJ FRONTDOOR RH ROBOT10 Pedestal Weld
2 ' Tool 0 : -318.00, 685.73 -236.88, -180.00 0.00, -60.00
3 ' Fixed Tool 3 : 399.45, 2447.23 -1100.98, 45.00 180.00, 0.00
4 ' Note:All I/O comments appear BEFORE I/O commands.
5 ' Note:All positional comments appear AFTER motion commands.
6 ' Style Bit 1
7 SETM M1,1
8 MOVEJ P,(19.8657,92.8967,-3.71318,8.90901,-74.1122,-36.662),S=500,A=0,H=0
9 'Home Position
10 'Check Part NOT Present
11 WAITJ I28
12 WAITJ I29
13 'Open Grippers
14 CALLP 123
15 'Request Pickup 1
16 SETM M11,1
17 'Wait to Go Pickup 1
18 WAITI I11
19 'Clear to Pickup 1
20 WAITI I12
21 'Reset Request Pickup 1
22 SETM M11,0
23 'Reset Operation 1 Clear to Enter
24 SETM M51,0
25 'Reset Clear Of Pickup 1
26 SETM M12,0
27 MOVEJ P,(49.409,92.673,-3.72259,9.00772,-74.1738,-37.1317),S=1800,A=0,H=0
28 ' Position Name: r10p1enter_sta01
29 ' ENTER STA01
30 MOVEJ L,(98.6454,77.0151,-2.4761,9.11716,-75.5246,-37.7083),S=1800,A=1,H=0
31 ' Position Name: r10p1v1
32 MOVEJ L,(108.34,30.5137,-20.4666,-6.71835,-83.0478,-25.0544),S=1500,A=1,H=0
33 ' Position Name: r10p1v2
34 MOVEJ L,(108.34,20.42,-27.4682,-6.871,-76.0951,-24.2126),S=800,A=0,H=0
35 ' Position Name: r10p1pickapp
36 MOVEJ L,(107.523,20.7588,-31.9734,-7.23265,-71.5369,-24.3708),S=500,A=0,H=0
37 ' Position Name: r10p1pick
38 ' CLOSE GRIPPERS
39 CALLP 122
40 MOVEJ L,(108.34,20.42,-27.4682,-6.871,-76.0951,-24.2126),S=800,A=0,H=0
41 ' Position Name: r10p1pickdep
42 'Check Part Present
43 WAITI I28
44 WAITI I29
45 MOVEJ L,(108.34,30.5137,-20.4666,-6.71835,-83.0478,-25.0544),S=1500,A=1,H=0
46 ' Position Name: r10p1v3
47 MOVEJ L,(98.6454,77.0151,-2.4761,9.11716,-75.5246,-37.7083),S=1800,A=1,H=0
48 ' Position Name: r10p1v4
49 MOVEJ L,(49.409,92.673,-3.72259,9.00772,-74.1738,-37.1317),S=1800,A=0,H=0
50 ' Position Name: r10p1exit_sta01
51 ' EXIT STA01
52 ' Set Clear of Pickup 1
53 SETM M12,1
54 'Set Operation 1 Clear to Enter
55 SETM M51,1
56 'Wait Gun Retracted (Full Open)
57 WAITI I81
58 MOVEJ L,(13.1878,82.1888,-3.28828,20.2035,-66.2298,-49.977),S=1800,A=1,H=0
59 ' Position Name: r10p1v5
60 MOVEJ L,(0.363168,44.2445,-39.5947,47.4037,-33.2297,-81.2508),S=1800,A=0,H=0
61 ' Position Name: r10p2enter_sta20
62 ' ENTER STA20
63 MOVEJ L,(0.363113,31.6254,-48.0941,58.9158,-28.1018,-94.6056),S=1800,A=1,H=0
64 ' Position Name: r10p2v1
65 MOVEJ L,(-3.6854,27.0413,-42.207,50.7586,-33.8329,-88.4541),S=1500,A=1,H=0
66 ' Position Name: r10p2v2
67 MOVEJ L,(-6.34928,22.8178,-37.1932,45.8119,-38.7015,-84.4356),S=1000,A=1,H=0
68 ' Position Name: r10p2v3
69 MOVEJ L,(-6.34928,24.8314,-36.198,44.9387,-39.4006,-83.3113),S=500,A=0,H=0
70 ' Position Name: 0412_4o
71 SPOT 0,1,1,1,0
72 'Wait Gun Retracted (Full Open)
73 WAITI I81
74 MOVEJ L,(-6.34928,22.8178,-37.1932,45.8118,-38.7015,-84.4356),S=1000,A=1,H=0
75 ' Position Name: r10p2v4
76 MOVEJ L,(-3.6854,27.0413,-42.207,50.7586,-33.8329,-88.4541),S=1500,A=1,H=0
77 ' Position Name: r10p2v5
78 MOVEJ L,(0.363112,31.6254,-48.0941,58.9158,-28.1018,-94.6056),S=1800,A=1,H=0
79 ' Position Name: r10p2v6
80 MOVEJ L,(0.36322,55.0915,-29.0395,37.9182,-41.0284,-69.3963),S=1800,A=0,H=0
81 ' Position Name: r10p2exit_sta20
82 ' EXIT STA20
83 MOVEJ L,(-41.2439,61.6847,-15.3707,31.334,-58.1587,-68.1711),S=1800,A=1,H=0
84 ' Position Name: r10p3v1
85 MOVEJ L,(-76.3766,60.2333,-14.4979,31.2366,-63.7985,-75.1793),S=1800,A=0,H=0
86 ' Position Name: r10p3enter_sta21
87 ' ENTER STA21
88 'Set Request For Drop Off 1
89 SETM M13,1
90 'Go To Drop Off 1 Pounce
91 WAITI I13
92 'Entering Interference Zone 1
93 CALLP 101
94 'Clear to Drop Off 1
95 WAITI I14
96 'Reset Request for Drop Off 1
97 SETM M13,0
98 'Reset Clear of Drop Off 1
99 SETM M14,0
100 MOVEJ L,(-119.537,51.2885,-23.4192,33.0131,-62.1904,-89.1479),S=1500,A=1,H=0
101 ' Position Name: r10p3v2
102 MOVEJ L,(-119.537,41.6383,-33.5087,36.6164,-53.8958,-95.9324),S=800,A=0,H=0
103 ' Position Name: r10p3dropapp
104 MOVEJ L,(-119.537,37.9618,-36.4755,37.9857,-51.5354,-98.192),S=500,A=0,H=0
105 ' Position Name: r10p3drop
106 'Open Grippers
107 CALLP 123
108 MOVEJ L,(-119.537,41.6383,-33.5087,36.6164,-53.8958,-95.9324),S=800,A=0,H=0
109 ' Position Name: r10p3dropdep
110 'Check Part NOT Present
111 WAITJ I28
112 WAITJ I29
113 MOVEJ L,(-119.537,51.2885,-23.4192,33.0131,-62.1904,-89.1479),S=1500,A=1,H=0
114 ' Position Name: r10p3v3
115 MOVEJ P,(-80.041,63.1825,-17.7989,26.1161,-65.6029,-74.183),S=1800,A=0,H=0
116 ' Position Name: r10p3exit_sta21
117 'Clear of Drop Off 1
118 SETM M14,1
119 'Clear of Interference Zone 1
120 SETM M46,1
121 'Cycle Complete
122 SETM M6,1
123 MOVEJ P,(19.8654,92.8971,-3.71312,8.90914,-74.1122,-36.6624),S=1800,A=0,H=0
124 ' Home Position
125 'Reset Cycle Complete
126 SETM M6,0
127 'Reset Style Bit 1
128 SETM M1,0
129 JMPP 10
130 END

[color=red===================================][/color]

This is from the ROBOT.OP0  file, not sure what to think if it:



I129     I135     I141
[ROBOT HOLD][MAJOR FLT/RESET][ROBOT IN WELD MODE]
I130     I136     I142
[ROBOT READY][NEAR END OF STEPPER][W/C IN WELD MODE]
I131     I137     I60
[CYCLE COMPLETE][NO WELD COMPLETE FLT][20 HOUR RUN BIT ON]
I132     I138     I  0
[CLEAR TO TRANSFER][WATER CONTROL ON][]
I133     I  0     I145
[ROBOT IN BYPASS][][REQUEST SERVICE]
I134     I140     I146
[ROBOT  IN E-STOP][FP App V0.xxx][SERVICE COMPLETE]
I147     I 20     I 24
[OPEN VALVE 1][GRIPPER 1 OPENED][GRIPPER 3 OPENED]
I148     I 21     I 25
[CLOSE VALVE 1][GRIPPER 1 CLOSED][GRIPPER 3 CLOSED]
I149     I 22     I 26
[OPEN VALVE 2][GRIPPER 2 OPENED][GRIPPER 4 OPENED]
I150     I 23     I 27
[CLOSE VALVE 2][GRIPPER 2 CLOSED][GRIPPER 4 CLOSED]
I 28     I 30     I  0
[PART PRESENT 1][PART PRESENT 3][]
I 29     I 31     I  0
[PART PRESENT 2][PART PRESENT 4][]
I165     I171     I177
[OPEN VALVE 3][ENABLE GUN 1][WELD SELECT BIT 1]
I166     I172     I178
[CLOSE VALVE 3][ENABLE GUN 2][WELD SELECT BIT 2]
I167     I173     I179
[VACUUM ON][ENABLE GUN 3][WELD SELECT BIT 4]
I168     I174     I180
[VACUUM OFF][ENABLE GUN 4][WELD SELECT BIT 8]
I169     I175     I181
[BLOW OFF ON][FIRE TEST WELD][RUN FOOTPRINT / ALL]
I  0     I  0     I182
[][][FOOTPRINT FLT]
I  0     I  0     I  0
[][][]
I  0     I  0     I  0
[][][]
I  0     I  0     I  0
[][][]
I  0     I  0     I  0
[][][]
I  0     I  0     I  0
[][][]
I  0     I  0     I200
[][][MOTORS ON]

[easyrobot]

Those are constants files.
ROBOT.C00
ROBOT.C01
---------------------------------
Those are programs (The extension means the program number)
S160F.001
S160F.010
S160F.060
S160F.100
S160F.101
S160F.102
S160F.103
S160F.122
S160F.123
S160F.501
S160F.502
S160F.701
S160F.751
S160F.999
-----------------------
This is a program in Ascci code (Just to view in your computer)
The extension means the program number.
S160F-A.001
-----------------------
Those are related to welding  (conditions, parameters, etc)
ROBOT.SWC
ROBOT.SWD
ROBOT.SWL
-----------------------
This is the Internal PLC  (RPC) in the robot controller.
ROBOT.RPC
----------------------
I dont know the others

[Keshka]

That is alot more that I knew! Thanks again DP!  Yes I am paying attention and learning one part at a time.

Keshka

[dafrenchman]

Allo!

what did you use to get to those files?

Thanks.