What tool does the robot have for writing?
Last year I had to make a program to our welding robot to weld some info onto the product.
The info to be welded is stored in a string variable. The program splits the string into individual characters/numbers and then welds them one-by-one.
The program makes a "grid" out of local position variables and a character is achieved by welding from one LP to another in a sequence specific to the character at hand.
The size of the text depends on the grid size which is defined by a line in the program before making the grid. So it can be changed easily.
It welds a character and then shifts to the next one (the shift from one character to another is linked to the size of the grid to keep the text even). It does so until all the characters in the string variable are welded.
Display MoreWhat tool does the robot have for writing?
Last year I had to make a program to our welding robot to weld some info onto the product.
The info to be welded is stored in a string variable. The program splits the string into individual characters/numbers and then welds them one-by-one.
The program makes a "grid" out of local position variables and a character is achieved by welding from one LP to another in a sequence specific to the character at hand.
The size of the text depends on the grid size which is defined by a line in the program before making the grid. So it can be changed easily.
It welds a character and then shifts to the next one (the shift from one character to another is linked to the size of the grid to keep the text even). It does so until all the characters in the string variable are welded.
Thank you for your advice! 
That looks very nice. 
Hello everyone I read this post and I was really interested but I could not understand the procedure to write the numbers with the robot, if there is someone who explains it to me in simple words.
Thanks in advance
The program first makes a grid out of position variables, similar to the one in the second picture. This grid is then used to write the characters. For example nr 5 would be written
MOVL LP003
ARCON
MOVL LP001
MOVL LP007
MOVL LP008
MOVC LP008
MOVC LP012
MOVC LP014
MOVL LP014
MOVL LP013
ARCOF
All the characters are described in the program in such way. Selecting the needed character is done with JUMP and LABLE instructions.
To move from one character to next SFTON instruction is used to shift in the desired direction. This shifts the whole grid to a new position.
The text is taken from a string variable, LEN instruction is used to get the total number of characters in the text, MID$ instruction is used to but each character into it's own string variable.
The whole thing is written into a loop that runs as long as the character counter reaches the total number of characters.
Nevermind, i got it sorted
