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
- Lauyder
- 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; ENDPROCIt is called:
CodeMoveL pRF, vAirSlow, fine, t_Nozzle\WObj:=woFront; !Right Front rSlotXY -9, 16; MoveL pLF, vAirSlow, fine, t_Nozzle\WObj:=woFront; !Left Front rSlotXY 8, -16; -
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; -
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.
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