MOV+MOV?

[aslack]

I took the DX100 beginner's programming class and have completely forgotten how to program a MOV+MOV for a robot with a single external axis. They even showed us specifically because we had asked, but it was the last day of class on an NX100 and neither of us took notes for that.

Is this a software option that maybe we didn't buy? If not, how do I teach this move?

[frank09]

 Available only with optional function enabled

[tony gast]

First
To get the MOVx+MOVJ you have to create a job as for example R1+S1:S1
This means that the S1 will be the master
You should get this window as you create your job (were you select the job type)
If you don't
You may have to only go in and create a group  group axis of R1+S1 S1 master  under the SETUP menu
If it won't let you then you might not have the Coordinated motion option
You only need this if you are moving the positioner while working(Like tracking the positioner with the robot) and it must be set-up and calibrated
That's the way it is on all other generations

[potis]

when you create a job you must define that it is not only for a robot. only then you will get mov+mov instruction

As tonygast said.  we were typing our answers at the same time

[tony gast]

If you set up the job as R1+S1 (instead of R1+S1:S1) you will not get the MOVx+MOVJ
It will only show MOVx , but will allow control of the station without coordination...

[aslack]

First
You may have to only go in and create a group  group axis of R1+S1 S1 master  under the SETUP menu

This worked, we didn't have the R1+S1:S1 group set up.

Followup question: what is the benefit of a R1+S1:S1 group over a R1+S1 group? In other words, what's different between MOVx by itself for 7 axes and MOVx+MOVx? We've been using R1+S1 in testing with no problems. If we need S1 to move, we just move it without moving R1 and record a move. But our Japanese programming expert likes the R1+S1:S1 group, and he's not able to explain in English what he likes about it or even what the difference is.

[tony gast]

R1+S1:S1 is synchronous     an example is the positioner is turning at the same time the robot is welding welding.( the robot follows the positioner.
R1+S1 is for just moving the positioner to a point with the robot sitting idle. then moving to the positioner to work

[95devils]

MOV+ MOV is independant control.  This can be used when you are in a R1+S1:S1 job.  This would be the format for a job where you want to do slave moves (SMOV + MOV) also known as coordinated motion as explained by Tony.

If you set up a job as a R1+S1 then every step you add into the job has both pieces of hardware recorded even though it is just MOV.  It this format you would not want the external axis to move while doing the application.

That's the difference, do I need coordinated motion or not.

[aslack]

I downloaded the NX100 Coordinated Control manual from motoman.com, and between it and you guys I think I'm getting it:

R1+S1 is like R1, it just records all 7 axes moving at the same time, recording pulse information for all 7 as the C-points. Whatever I teach is exactly what the 7 axes will do, and the travel in between points may or may have the TCP oriented correctly.

R1+S1:S1 records separate points for R1 and S1, and MOV+MOV allows for them to move independently (basically like R1+S1) whereas SMOV+MOV allows them to move in a way that maintains the orientation between each other.

Example to see if I get it: We're using the robot for spray coating, so I can start at one end of the product, turn on spray and do a synchronous SMOV+MOV and record the next point at the other end, and the spray head will maintain it's orientation to the product the whole way. Am I getting it?

[popbot]

I'm no expert but i remember having the same questions.  It seems to me that nobody understands or can explane fully. I even had someone at Motoman get a little nasty me rather than admit he did not understand himself. I also had coworkers tell me i was wasting my time with it.
Long story short, i use it all the time now. My app. is welding and programing this way makes awesome welds.  Moving the work and welding at the same time lets me keep the weld in a flat position around pipe and around corners.  No need to get all technical with the explanation. Just know it keeps the robot and the work tied together for precision perposes.
As for you Japanese expert, i would follow his advice. Learn from him and chose your battels.

[aslack]

I even had someone at Motoman get a little nasty me rather than admit he did not understand himself.

They were very helpful in showing me how to do it (obviously I forgot that part), but not so helpful in explaining the differences.

Just know it keeps the robot and the work tied together for precision perposes.

That's all I needed to know!

As for you Japanese expert, i would follow his advice. Learn from him and chose your battels.

This particular issue is hardly a battle! I've got plenty of other things to choose as battles :)

[popbot]

lol...  To be fair, the folks at Motoman are wonderfull. This was just one man and he is no longer with them.

[motomaster]

here is the break down in simple terms....R1+S1 = no path interpolation between R1 and S1...R1 has normal path interpolation and records postion of S1 at same time.....

R1+S1:S1 = slave move path interpolation...means R1 path is interpolated relative to the mastertool frame of S1 if SMOV's are used. this is the only way to acheive true surface speed if you want to park the robot above a pipe and spin the external axis to weld it...

[RafelPoland]

Hi Robotics,

Could someone send me NX100 Coordinated Control manual? I have problem with coordinate work robot and positioner. And I think that I can found necessary information in this manual.
my adres is rafal2514@poczta.onet.pl

Thanks
Rafal