IRB-6600/S4C-Plus. New Robot programmer here. Is it possible to have a robtarget that is floating, or the last position used? I need to run a subroutine multiple times in a routine but in different positions. just using an offset command is what I want to use but I have to enter a position, so if I could just have the offset start position just be the last position it moved to, it would simplify my life a little. the subroutine is basically just a little J shaped move but it makes for a lot of lines in the routine if I have to do it over and over. or can I switch the subroutine to incremental. does anybody have a simpler way
Floating Robtarget
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Lauyder -
November 30, 2018 at 4:18 PM -
Thread is marked as Resolved.
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Are you looking for something more involved than the CPos function?
Here is a routine that draws (cuts) an X by Y mm slot.
Code
Display MorePROC rSlotXY(num X,num Y) PDispOn pSlot, t_Nozzle\WObj:=woFront; JetOn; MoveL Offs(pSlot,X / 2,0,0), V, z5, t_Nozzle\WObj:=woFront; MoveL Offs(pSlot,X / 2,Y,0), V, z5, t_Nozzle\WObj:=woFront; MoveL Offs(pSlot,-X / 2,Y,0), V, z5, t_Nozzle\WObj:=woFront; MoveL Offs(pSlot,-X / 2,0,0), V, z5, t_Nozzle\WObj:=woFront; MoveL pSlot, V, fine, t_Nozzle\WObj:=woFront; JetOff; PDispOff; ENDPROC
It is called:
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To go from the last position moved:
VAR robtarget pLast;
pLast:=CRobT(\Tool:=yourTool \Wobj:-yourWorkobject);
MoveL Offs(pLast,0,0,0),v100,fine,yourTool\Wobj:=yourWorkobject; -
I made my start position for the offset a variable P1 and then added an P1=? command before each subroutine and that worked too But "Plast" would have been easier. Thanks Now for the next program I need to dump something in the subroutine. because I'm really only carrying something on a forklift type of tool, no grabber or gripper. Since the offset command only has x,y,z offsets, Which of the other functions does one use for changing the angle of the tool? I'm assuming it's the RelTool function, but I've spent hours going through the manual and can't find instructions on what it means.
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RelTool is correct. optional arguments \Rx:=whatever\Ry:=whatever\Rz:=whatever. You can use only one or all, whatever you need.
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RelTool is correct. optional arguments \Rx:=whatever\Ry:=whatever\Rz:=whatever. You can use only one or all, whatever you need.As I recall, Rx, Ry, and Rz are rotation around X, Y, and Z - in degrees.