Hello.
Im curios about a nullpoint program.
Is it possible to set a point in somewhere and in programming just coordinate the move with values step-by-step?
Hello.
Im curios about a nullpoint program.
Is it possible to set a point in somewhere and in programming just coordinate the move with values step-by-step?
If I understand correctly what you mean, you can use User Frames for that.
You define a frame in robot's workspace and then program using that frame. For example: if you create the frame on a corner of a table and program the robot to move to a PR, which is [100;200;0;...;...;...] (the last 3 coordinates may depend on the tool configuration), it will move the TCP to a point 100mm in the frame's X direction (along one of the table's edges) and 200mm in Y direction (along the other edge).
With a bit of programming, you can create a program, in which you set the coordinates (and maybe speed and acceleration) and confirm them and the robot moves to that given point. The interface for the operator could be done on the robot's TP HMI (coordinates input and start/confirmation button), the rest - in a macro / PNS / RSR or whatever you like. The robot program itself should take the values given by the operator, make a PR out of them and execute a linear movement to the target point.
It could be also possible to create an interface to allow the operator to write whole "programs" in that manner, but I guess that would require a PLC to store a sensible amount of points and their parameters. And a quite a lot of programming.
Exactly what I was curious about.
Thank you!