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offsetting points

  • Looking to create a programme for a mig robot to dip the nozzle into anti spatter paste, I am thinking of putting a small square container inside the weld cell and after the nozzle clean I want the robot to dip the nozzle into anti spatter paste but each time it goes in I want it to dip into a different part of the container so need a simple programme that can offset the points and then repeat.



    Regards

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  • An example of a robot program I can create that will do what I want. little example

    << COMMAND(S) >>

    <-> Begin of Program

    TOOL = 1:TOOL01

    (+) MOVEP P023 90.00m/min

    (+) MOVEP P025 90.00m/min

    [ ] :START

    INC GB#(2:REAMER COUNTER)

    IF GB#(2:REAMER COUNTER) < 17 THEN JUMP REAMER ELSE JUMP RESET COUNT

    [ ] :REAMER

    IF GB#(2:REAMER COUNTER) = 1 THEN JUMP LABEL0001 ELSE NOP

    [ ] :LABEL0001

    (+) MOVEL P005 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 2 THEN JUMP LABEL0002 ELSE NO

  • There's quite a bit questionable about your example (maybe some of it's missing?), but your true goal should be to get an anti-spatter sprayer. Even if you accomplish what you want with the dip, the torch will eventually dip into filthy gel I would think. Most if not all nozzle cleaners come with a nozzle sprayer. If it doesn't work I would fix or replace it. If there isn't one at all I would install one.

  • It is only part of the program ,it goes on so the torch can dip sixteen times. We already have a nozzle clean but the anti spatter spray gets forced up into the nozzle and contaminates everything. The dip would only be used after 6 torch cleans or more which is then 6 times torch clean times 16 dips which would take us until end of two complete shifts and operator would then level the dip tray with new paste which would be a 5 minute job. We find the paste is a lot cleaner.

    -> Begin of Program

    TOOL = 1:TOOL01

    (+) MOVEP P023 90.00m/min

    (+) MOVEP P025 90.00m/min

    [ ] :START

    INC GB#(2:REAMER COUNTER)

    IF GB#(2:REAMER COUNTER) < 17 THEN JUMP REAMER ELSE JUMP RESET COUNT

    [ ] :REAMER

    IF GB#(2:REAMER COUNTER) = 1 THEN JUMP LABEL0001 ELSE NOP

    [ ] :LABEL0001

    (+) MOVEL P005 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 2 THEN JUMP LABEL0002 ELSE NOP

    [ ] :LABEL0002

    (+) MOVEL P006 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 3 THEN JUMP REAMER ELSE NOP

    [ ] :LABEL0003

    (+) MOVEL P007 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 4 THEN JUMP LABEL0004 ELSE NOP

    [ ] :LABEL0004

    (+) MOVEL P008 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 5 THEN JUMP LABEL0005 ELSE NOP

    [ ] :LABEL0005

    (+) MOVEL P009 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 6 THEN JUMP LABEL0006 ELSE NOP

    [ ] :LABEL0006

    (+) MOVEL P010 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 7 THEN JUMP LABEL0007 ELSE NOP

    [ ] :LABEL0007

    (+) MOVEL P011 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 8 THEN JUMP LABEL0008 ELSE NOP

    [ ] :LABEL0008

    (+) MOVEL P012 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 9 THEN JUMP LABEL0009 ELSE NOP

    [ ] :LABEL0009

    (+) MOVEL P013 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 10 THEN JUMP LABEL0010 ELSE NOP

    [ ] :LABEL0010

    (+) MOVEL P014 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 11 THEN JUMP LABEL0011 ELSE NOP

    [ ] :LABEL0011

    (+) MOVEL P015 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 12 THEN JUMP LABEL0012 ELSE NOP

    [ ] :LABEL0012

    (+) MOVEL P016 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 13 THEN JUMP LABEL0013 ELSE NOP

    [ ] :LABEL0013

    (+) MOVEL P017 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 14 THEN JUMP LABEL0014 ELSE NOP

    [ ] :LABEL0014

    (+) MOVEL P018 90.00m/min

    JUMP END

    IF GB#(2:REAMER COUNTER) = 15 THEN JUMP LABEL0015 ELSE NOP

    [ ] :LABEL0015

    (+) MOVEL P019 90.00m/min

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