I want to ream out a hole. The hole is at a slight angle to the world. The hole will float in the Z direction to the tool frame. The robot is programmed to approach the hole parallel until a probe touches the hole surface. Then I want the robot to move from the probe touch in Z negative by a specific distance into the hole. I know it's a position register programming but I dont have the experience to do it.
Help moving incremental in Z after probe touch
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krsholl -
August 6, 2019 at 4:34 PM -
Thread is Unresolved
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After the touch probe makes contact.
PR x=LPOS
PR x,3 = PR x,3 - (amount you want to move)
PR x is whichever PR you want to use.
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I'm not sure if you're talking about tool Z or user Z. If it's user Z, stare284's method will work. If you're talking about tool Z though, use a tool offset
PR[1] = LPOS -- stores start position (when probe makes contact)
PR[2] = LPOS -- make sure that your offset PR is set to cartesian
PR[2] = PR[2] - PR[2] -- zero out your offset PR
PR[2,3] = {z offset} -- normally your tool Z is positive in the direction your tool is pointing
PR[1] 100mm/sec FINE Tool_Offset, PR[2]
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Thank you. So the probe is going to set an input. How do I tie the input into PR x=LPOS so that the robot stops its approach prior to the input to the PR set distance?
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Use the skip condition. You can search this board for more details, but it will look something like this:
SKIP CONDITION RI[1]=ON --in this example, the robot is looking for RI[1] to turn on
L PR[3] 100mm/sec FINE Skip,LBL[1] --move to PR[3] while looking for RI[1] to turn on. If RI[1] comes on before it gets to PR[3], motion stops and the robot goes to the next line. If it makes it to PR[3] without RI[1] coming on, the program jumps to LBL[1]
PR[1] = LPOS -- stores start position (when probe makes contact)
PR[2] = LPOS -- make sure that your offset PR is set to cartesian
PR[2] = PR[2] - PR[2] -- zero out your offset PR
PR[2,3] = {z offset} -- normally your tool Z is positive in the direction your tool is pointing
PR[1] 100mm/sec FINE Tool_Offset, PR[2]
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LBL[1]
--Code to handle sensor not turning on
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Thanks for taking the time to type out this example. A big help.