thank you soo much, ı wiil try today.
I cant accuracy in corner turns
-
karakasov67 -
July 20, 2020 at 8:43 PM -
Thread is Unresolved
-
-
Attached is the AS Manual explanation of CxMoves.
In BLOCK CIR1 is the same as the AS C1MOVE
In BLOCK CIR2 is the same as the AS C2MOVE
You start the arc using CIR1 and you MUST ALWAYS use CIR2 when finishing the arc.
You can use CIR1 then CIR2 (start and finish the arc).
You can use CIR1 then repeating CIR1 moves......But must always finish the arc using CIR2.
For example you could draw a circle by:
CIR1
CIR2
CIR1
CIR2
or
CIR1
CIR1
CIR1
CIR2
-
In general terms, when profiling using sealing or a gluing application around a 2d object that has 4 corners each at 90 the simplest method is as per the attached image (12 positions).
If I was in your position, I would create this profile as a comparable test and see the difference between the results.
Problems can arise when the applied bead width, distance between points and accuracy values are so great that they begin to overlap each other, which otherwise saturates a specific location and results in blending one location with another.
When 2 locations are blended together, this can affect the path towards and away from the locations.
If this is the case, usually one of the above variables only requires changing.
-
Decrease the motion modify speed or teach your point further out from the corner. When robot motion speeds are set to a continuous 100, the robot will take the corner at maximum rounding.
-
Doc. Robot, this is not a Fanuc Robot, but principle is similar.....
-
kwakisaki My bad... I am most familiar with FANUC.
-
No worries, similar principle though.
Kawasaki uses accuracy values in mm whereas Fanuc appears to more 'speculative' in my opinion.
-
kwakisaki It uses a similar accuracy value as well. Using CNT100,50,25... uses the default cornering distance at a percentage of that defaults. where as if you were to use the termination type CRy with Y being a value of 0mm to 1000mm from your corner the robot will start and end its cornering at that specified distance.
-
Ah......so CR is in addition of CNT and CD units......I missed that in the manuals.....Just found it now.....
Nice, thanks for sharing......
-
Yup NP. Your welcome.
-
thank you soo much, kwakisaki
-
That's perfect from a profiling perspective.........
I see the bead width is wider around the radius though.
If this is acceptable for the application great, otherwise you may need to adjust speed/flow control (if you have it) to try and produce a uniform bead width.
Sometimes around the corners, the application may require a wider bead, but most applications I come across require it to be uniform.
But you're right in the ball park now.....Nice job......
-