i have existing program of circle for welding,how can copy that program at an interval of 100 mm distance in y+ direction of robot world coordinate,without crating the new program at every time.
mirroring of program
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mech8020 -
March 25, 2015 at 5:59 AM -
Thread is Resolved
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Search to forum for "base shifting"
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If you are programming in advance mode then:
Teach a new base with an offset of 10 mm , and then in the beginning initialize the base an tool with
$IPO_MODE = #BASE
$BASE = $WORLD ;setting of the base coordinate system
$TOOL = $NULLFRAME ;setting of the tool coordinate systemOR
$BASE = {X 100,Y -200,Z 1000,A 0, B 0,C 0) ;Base 1 , Use it as per requirement and comment the rest bases ...
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; $BASE = {X 110,Y -200,Z 1000,A 0, B 0,C 0) ; Base shifted in X by 10mm
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PTP POS_2 -
Code
$BASE = $NULLFRAME ; init to World FOR _Index = 1 TO NumberOfHoles CutCircle() ; subroutine to cut circle $BASE = $BASE : {X 0,Y 100,Z 0,A 0,B 0,C 0} ; shift $BASE by 100mm along its Y Axis ENDFOR
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