Best way to shift points in space and move robot on the track?

Here is an idea- read through the expert programing manual, get the gist of the basics, then come back with a specific question. Maybe someone out there would enjoy it, but there is no point to typing out parts of the manual here when you can just read it on your own.

First I tought there is missing part one somewhere here in the thread - but then I figured out this must be really the start.

What I learned so far:

try to explain exaxtly what you really want to do to yourself (just checking the headline I do not have a glue what you are talking about)

Do not show your solution to others (this is guiding to the wrong direction - misleading)

If you start with this it will be very helpful for you and all the others trying to help you

regards

MOM

I need 10 robot positions every 10 cm on the track and in each of those positions robot have to do 20 random moves in space.

your 20 random moves in space are the same?

could you show us your machine data (how you set up the additional axis)?

How would I have done it:

Movement on the track is an asynchronius movement.

When done with your random movements call asynchronious movement of 500 (whatever miles degrees, mm) and then just run the same program again

regards

MOM

Is there a problem with the forum itself?

At the moment I miss at least one post here?

regards

MOM

Quote from MOM

your 20 random moves in space are the same?

Yes.

Quote

When done with your random movements call asynchronious movement of 500 (whatever miles degrees, mm) and then just run the same program again

Its imposibru. How can i call movment of 500 on track and call the same program again if all of 20 positions are E6POS with E1 cordinantes?

first:

there are two ways using additional axes

mathematicaly coupled, then you have to do the strange stuff you want to use

mathematically decoupled (asynchronious), move the additional axis and at the new position will be the new origan of your $base as defined (no base change)

In this case do not deal with your e1, just use a frame for your position

where is machine data file?

regards

MOM

here you are.

$machine.dat

Quote

move the additional axis and at the new position will be the new origan of your $base as defined

Are you sure? I tried it at monday...

I use world so for the first iteration, base has x 0,y 0 and z 0. For the second iteration base is x 100, y 0, z 0 etc. But if i moved on the track, points has the same E1 cordinates so robot drive back on the track, but posiotions of the points at the second iteration was shifted 100 mm along X because base was shifted.

I have not checked the machine data yet but I believe that your are using mathematical coupled

Instead of E6POS use Frame (for your positions)

At the moment I am very busy, I will answer within the next two hours

regards

MOM

There was also an issue with movement on the E1. When I select world, base or tool system of cordinates and move on the E1, the TCP also moves xD

looks like

bit I have to check the machine data, just to be sure

regards

MOM

That machine data is from robot that has a correct E1 configuration. Today someone fix that issue in work visual i guess.

That is why I could not find the problem

Giving wrong information is not very helpful

regards

MOM

So what am i supoose to do now?

Quote from Dzonzi

That machine data is from robot that has a correct E1 configuration. Today someone fix that issue in work visual i guess.

what do you mean with response ?

On that robot TCP stays in place when i move E1 axis so configuration is correct.

use frame instead of e6pos

make e1 asychronious

Quote from MOM

use frame instead of e6pos

What do u mean? How to use frame instead of e6pos?

How can i recognize if e1 is asychronious?

just give me the correct machine data you used

Other option read about additional axes (especially asychronous axes)

What is the difference between your two setups

(you alse can check the difference of the machine data)

regards

MOM