Hello everyone,
I have this strange idea this morning, Is it possible to create program independently for each axis? Eg: (joint Mode). Let me know your opinion about it
Hello everyone,
I have this strange idea this morning, Is it possible to create program independently for each axis? Eg: (joint Mode). Let me know your opinion about it
To a certain degree and only for Ax6 on the robot... check out the instruction IndAMove
Which problem are you trying to solve ?
Hi SAABoholic,
Thanks for the reply. I'm trying to achieve a program which is suppose to be like this "Eg: I wanna move Robot from point A to B(0-1000mm) vertically & C to D(0-5mm) horizontally. While executing C to D it wants to travel towards Point B". I tried with "For & While & IF,Incr,Add". It performing C to D without any problem but I wanna reach B while performing C to D. How? Please Let me know your opinion on it.
... I wanna reach B while performing C to D. How?
So you want to move diagonally? Your description sounds more like Cartesian moves than joint moves - or are you describing axis 3 and axis 2 moves?
Hmmm...
My best interpretation is that you'd like to program a horizontal movement between C&D of up to 5mm, so a plain MoveL for example, is this correct ?
While executing the C > D (or I guess D > C motion as well) you want to be able to independently move the robot vertically up/down by as much as 1000mm ?
What type of application is this ? Reason for asking is that there might be alternative solutions to the application, so rather than solving the solution we should focus on the main problem.
Depending on the application you might be able to use correction vectors, but a 1000mm correction is rather big for a 5mm movement so I'm not sure if the controller likes that,
other solutions if you had RW5 (I think you had older S4's, right ?) would be SoftServo (Cartesian) but again, it all depends on what the application is if that's even an alternative.
A third alternative might be what you already stated, with loops and offsets / injection of new data in your robtarget/wobj, but again (see the trend here) it all depends on the application what's the best method.
So you want to move diagonally? Your description sounds more like Cartesian moves than joint moves - or are you describing axis 3 and axis 2 moves?
Hi Iowan, Yes technically I want a weave pattern move without having weave option using trap routine or while or For or IF etc
Hmmm...My best interpretation is that you'd like to program a horizontal movement between C&D of up to 5mm, so a plain MoveL for example, is this correct ?
While executing the C > D (or I guess D > C motion as well) you want to be able to independently move the robot vertically up/down by as much as 1000mm ?What type of application is this ? Reason for asking is that there might be alternative solutions to the application, so rather than solving the solution we should focus on the main problem.
Depending on the application you might be able to use correction vectors, but a 1000mm correction is rather big for a 5mm movement so I'm not sure if the controller likes that,
other solutions if you had RW5 (I think you had older S4's, right ?) would be SoftServo (Cartesian) but again, it all depends on what the application is if that's even an alternative.
A third alternative might be what you already stated, with loops and offsets / injection of new data in your robtarget/wobj, but again (see the trend here) it all depends on the application what's the best method.
Hi SAABoholic,
I'm trying to achieve weave pattern without having weave option in s4c+ M2000A controller. So, I'm trying all possible ways using different methods of programming options, Any tricks will be helpful
What is the application ?
Well, its welding application without using "Weaving options" . I wanna try through programming method to manipulate weave pattern. Do you any ideas??? -SAABoholic
I implemented c-code for this but when I tried in real time it's not working. Because " IF" syntax is different on rapid. Please have a look on attached syntax tell me anything better idea then that.
I hate to say "forget it", but that's basically what you are up for....
At least up to IRC5 and RW5.6 there's no way of "emulating" a weave without actually using ARC & Weave.
Theoretically you could plot out the positions in a huge array and use a for-loop to "replay" it, or you could use correction vectors to manipulate the path
but both these will be very "sluggish" in terms of performance and error handling will be a nightmare.
It has been a long standing feature request to be able to generate your own weave patterns, especially for the more challenging types of welding
but so far it hasn't been made possible, instead they have added more weave-patterns to Arc/weaving, primarily due to the low level nature of the motion planner.
I'm sure someone will point out the option EGM on IRC5 / RW6, Externally Guided Motion.
This does at least theoretically have the possibility/performance of creating a weave overlay to the actual linear path,
but it's certainly not a method that I would pursue.
Thanks for reply SAABoholic.
That's sounds disappointing. I'm also had a look on possibilities of EGM method and realized it most suitable for pick n place operation rather welding. Anyway, I'm keeping my hope to find a subtle way to manipulate weave functions without using arc ware. Thanks for tips