Hi There,
Does anyone know who to move/jog to robot in specified distance incremental like other robot i.e. ABB.
there is only three speeds. FAST MED and Slow. I want to used 6mm or something custom entry.
Any help would be much appreciated.
Hi There,
Does anyone know who to move/jog to robot in specified distance incremental like other robot i.e. ABB.
there is only three speeds. FAST MED and Slow. I want to used 6mm or something custom entry.
Any help would be much appreciated.
Which controller?
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There is also inching speed. This moves the robot 1 pulse if in joint or 0.3mm if in rectangular, tool or user coordinate system.
You could write a job that has an IMOV instruction in it. Pick an unused P-Variable, set it to, for example (6, 0, 0, 0, 0, 0) to move 6mm in X only. Then Interlock/Test Start the job. The move instruction would look something like this:
IMOV P000
where P000 is the variable you created. Every time you run the job, the robot will move linearly +6mm in X.
You could get even more creative with this by using GETE/SETE instructions to load the values you want into the P-Var, and map I/O to get the values from a PLC or some other external source, something like the following:
SETE P000 (1) D000
SETE P000 (2) 0
SETE P000 (3) 0
SETE P000 (4) 0
SETE P000 (5) 0
SETE P000 (6) 0
IMOV P000
where D000 is expressed in microns (or mm * 1000), and D000 can be copied over (via a DIN IG(x) instruction) from mapped I/O if you want to be able to set this value from a PLC or HMI, etc.
Also, the example I show here is for linear coordinates (world, tool, or user). I don't think IMOV is valid for pulse type position variables, but I could be wrong about that? If you need to incrementally move in pulse positions, you would need to do a GETS $PX000 to get the current position in pulse, then do some GETE/math/SETE instructions to add or subtract individual joint values, then do a MOV instruction to the modified position.
Scott