July 21, 2019, 04:44:09 AM
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 Abb robot point

normal_post Author Topic:  Abb robot point  (Read 1234 times)

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March 22, 2018, 01:51:52 AM
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硕江苏


Hello everyone
There has been a problem recently
It is to read the precise point of the robot's moving point, but the problem is that there is turning area data in the previous step, and the data of the turning area does not change under the premise of how to read in the following statement.
Take the exact point
Thank you

Today at 04:44:09 AM
Reply #1

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Guest

March 22, 2018, 09:08:23 PM
Reply #1
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SharplesR


You are trying to capture the robot's current position while it is moving?

March 23, 2018, 02:01:55 AM
Reply #2
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硕江苏


Yes, I want to read the exact point, but there is a turn zone data in the last point automatic operation. How to read the precise point?

March 24, 2018, 01:35:39 PM
Reply #3
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SharplesR


I'm a little unclear what exactly you want to do, but would CRobT() or CPos work for you?

March 25, 2018, 12:16:25 PM
Reply #4
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硕江苏


movel p10,z50,tool1,wobj
Hello, if the program is such, can not change, how to read the exact point of P10 under this program, automatic run can only read the leap point.

March 25, 2018, 02:52:28 PM
Reply #5
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Fabian Munoz

Administrator
Hi

1) if you are moving to P10 and stop, You should read the point position. I don't know how much "exactly" you want to read it.
Do you need more accuracy than 1000th of a millimeter ? The robot could be fluctuating on the last digit because the servo are continuously monitor vibration, weight, etc

2)if you are moving through P10 (let's say to P11), The robot is following a not perfect path . That's is the z50, so don't expect to see an exactly location. The robot will be moving across P10 and there is no way to read those locations without using a command

Maybe you can explain better what you want to see
somar

March 26, 2018, 12:18:30 AM
Reply #6
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硕江苏


Thank you for your explanation

Today at 04:44:09 AM
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April 10, 2018, 11:30:22 AM
Reply #7
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ClaudiuA


I had a...similar issue in the past while trying to make a safe Home procedure. The only way to make sure the point you're reading is the actual point where the robot ends up...is to stop the robot at that point. Remember that the PP moves ahead of the motion of the robot, so the command for reading the position actually comes BEFORE the robot actually stops. Beginner me has learned that through a pretty little crash due to it.

If you want to read a position, you would need a WaitTime /InPos, 0.1 before you use CJoint or CRobT or whatever you prefer.

I...don't know if this is exactly what you needed.


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