Hello everyone. I'm hoping you all can help me out. We're replacing our laser cutting robot with a newer model. It's an M16iB. On our old robot, we had a special trepanning head as our group 2, that we used for shape cutting. We had various size circles and rectangles programmed, and we'd teach the center point of the shape we wanted to cut, and cut the shape we wanted (circle 4, rectangle 3...etc). Our new robot doesn't have this head. What I'm wondering is, is there a way to set a temporary zero reference point, based on the current TCP, and call whatever shape we want to cut? Essentially teaching the center of the shape, set a temporary reference point, cut the shape, then move to the next hole, and repeat. I've been told that this can be done in the user frame, but that won't work for us, since we cut on so many different plains on the same part. Any help would be greatly appreciated. I'm really not looking forward to programming hundreds of 2mm circles.....
shape cutting
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memiller1 -
June 13, 2018 at 2:23 PM -
Thread is marked as Resolved.
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Simple, use an offset.
Teach your shape in its own little program at a starting point. Apply an offset to all points in the program. Then you just need to modify the offset Position Register before calling the shape program.
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Thanks for the reply. I'm still fairly new at programming, mostly self taught. How would I go about doing this offset?
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Do you have the manual? If so read the section under Program Elements>Motion Options>Offset.
Basically at the top of your shape sub-program you will set the PR that is going to contain your offset. In this example, using PR[10].
: OFFSET CONDITION PR[10];
Then on every motion instruction in the program add the offset to it by using the arrow keys to go to the end of the line where it is blank, press 'choice' then 'Offset'. It should like this:
:L P[1] 100mm/sec FINE Offset ;
Go to PR[10] and set it to all zeros, in Cartesian (XYZWPR). Then teach your shape program.
Finally when you want to move the location you would just modify the PR right before you call the shape program. For example, to offset your shape program by 100 mm in the x direction:: PR[10,1]=100;
: PR[10,2]=0;
: PR[10,3]=0;
: PR[10,4]=0;
: PR[10,5]=0;
: PR[10,6]=0;
: CALL SHAPE;Notice there is PR[10,1 through 6] 1=x, 2=y ,3=z, etc.
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here's an example showing how to programatically cut a circle: https://www.robot-forum.com/robotforum/fan…77334/#msg77334
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Awesome! Thanks for the help guys. I'll give it a whirl as soon as we get the new robot up & running. I'm not sure if I have programming manual. I'm not sure if the replacement came with one. Unfortunately, we get a lot of hand-me-downs from GM (without any documentation).
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So I checked through all of my manuals and documentation, and unfortunately, I do not have a programming manual. I knowFanuc has pretty much everything on lock down, but I'm in need. Is there any where I might be able to find a copy? Maybe in pdf format? thanks in advance.