Hai,
I want do program in kawasaki E42 like ABB robot having workobject 3 point teach method. Automatically all other points will align in fixture.
If fixture angle or oriatention change.
Hai,
I want do program in kawasaki E42 like ABB robot having workobject 3 point teach method. Automatically all other points will align in fixture.
If fixture angle or oriatention change.
By using the FRAME command
Goto AS programming
Download the AS Manual here (even though it is for D Controller, the FRAME command function is the same for E Controllers).
- Goto Section 9 page 32
- Full explanation of FRAME command is here
Thank you
I got the manual but I could not understand
Can you give example or explanation...
Here's an example of how to use FRAME command.
This was a robotics course laboratory exercise.
The robot had a simple pointer as a tool.
The task was to move to each of nine locations on a 3x3 matrix tray. The tray was a square piece of plate stock with 9 holes in a 3x3 pattern.
The FRAME of the matrix tray was defined by:
The edge-to-hole offset distance in both X & Y directions is known from CAD.
The hole-to-hole offset distance in both X & & directions is known from CAD.
.PROGRAM main() #2
;
; test pgm for palletizing using frame
;
; initialize
;
POINT t.pointer = TRANS(0,0,125,0,0,0)
n.spd.gohome = 5
n.spd.move = 30
n.edgeoffset = 1.75 ; pallet edge-to-hole distance, inch
n.xoffset = 2.25 ; pallet frame-X hole-to-hole spacing, inch
n.yoffset = 2.25 ; pallet frame-Y hole-to-hole spacing, inch
n.zoffset = -30 ; pallet frame-on-table retract distance in World-Z dir, mm
;
; move to pre-define HOME location
SPEED n.spd.gohome ALWAYS
HOME
BREAK
;
; recalculate the frame of the pallet in case it moved
POINT f.pallet = FRAME(p.pal1.o,p.pal1.x,p.pal1.y,p.pal1.o)
; set the speed
SPEED n.spd.move ALWAYS
; invoke the tool transform to be used
TOOL t.pointer
;
;
; calculate each of 9 pallet points in turn, convert inch to mm, then move to it
FOR n.xidx = 1 TO 3
FOR n.yidx = 1 TO 3
n.x = (n.edgeoffset+(n.xidx-1)*n.xoffset)*25.4
n.y = (n.edgeoffset+(n.yidx-1)*n.yoffset)*25.4
n.z = n.zoffset
POINT p.pallet.loc = f.pallet+TRANS(n.x,n.y,n.z)
LAPPRO p.pallet.loc,30
BREAK
LMOVE p.pallet.loc
BREAK
LDEPART 60
BREAK
;
END
END
;
SPEED n.spd.gohome
HOME
RETURN
;
.END
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Thank you very much .
Finally i completed palltetizing program.
Hello,
You can do the palletize program with CASE function for example but it depends on the palletize type.
Can you please tell what kind of palletize You have done?