recording joint positions during motion

    Hi all,

    I want to log joint angles (j1-j6) as the robot is moving. I made a simple program that jogs the robotic arm between a set of points (~4 or 5). On the TP, there is a POSN button. When, I press this button, I can see the arm position in Joint space ( the values of J1 through J6). I can also see the values changing as the arm is moving.

    As a first try, I would record the final position of the robotic arm in joint-space, after it has passed through all the points. Then, I can compare it with what I see on the press of POSN button.

    My program looks like this.

    1: PR[1] = JPOS-JPOS

    2: J P[1] 100% FINE

    3: J P[2] 100% FINE

    4: J P[3] 100% FINE

    5: J P[4] 100% FINE

    6: CALL COPY_PRG

    And, COPY_PRG looks like this:

    1: R[1] = PR[1, 1]

    2: R[2] = PR[1, 2]

    3: R[3] = PR[1, 3]

    4: R[4] = PR[1, 4]

    5: R[5] = PR[1, 5]

    6: R[6] = PR[1, 6]


    My idea was to check the value of 6 data registers (R[1] to R[6]) and see if indeed they got the joint angles.

    I am not yet very good in TP programming.

    • The above program is supposed to record the final position after the movement is complete. However, I do not see anything recorded to data registers as yet.
    • Also, how can we log the values in real-time.
    • Is there a simpler way to achieve this.

    thanks your help,

    Zahid

    thanks all,

    I made the change and I was able to see the results. And, the program looks as follows now .

    1: PR[1]=JPOS

    2:J P[1] 100% FINE

    3: PR[1]=JPOS

    4: CALL COPY_PRG

    5:J P[2] 100% FINE

    6: PR[1]=JPOS

    7: CALL COPY_PRG

    8:J P[3] 100% FINE

    9: PR[1]=JPOS

    10: CALL COPY_PRG

    11:J P[4] 100% FINE

    12: PR[1]=JPOS

    13: CALL COPY_PRG

    In this program, I have to copy the joint positions after each movement. I have a couple of questions to this end.

    • Firstly,

    I record the JPOS (PR[1]) only after the robot as moved to a point (P[1]). Is there any way to record the joint-angles even when the robot is is motion. i.e. between points (P[1] and P[2]) or (P[3] and P[4]) and so on?

    • Secondly,

    In this small program, I am manually, recording joint-angles after each move. Is there any built in registers (variables) that can be read to give joint angles while the robot is moving. For example, in ROS, there is a topic which can be subscribed to get real-time joint angles joint_states.

    thanks for your help !

    Zahid

    Quote from zahid990170
    • Firstly,

    I record the JPOS (PR[1]) only after the robot as moved to a point (P[1]). Is there any way to record the joint-angles even when the robot is is motion. i.e. between points (P[1] and P[2]) or (P[3] and P[4]) and so on?

    • Secondly,

    In this small program, I am manually, recording joint-angles after each move. Is there any built in registers (variables) that can be read to give joint angles while the robot is moving. For example, in ROS, there is a topic which can be subscribed to get real-time joint angles joint_states.

    thanks for your help !

    Zahid

    Check out HawkMe's answer in the thread Send the current position of the robot through profinet, where he suggests using the system variable SCR_GRP[1].$MCH_ANG.

    You can also look at using $SV_INFO[1].$AXIS_POS.

    just a quick question,

    The robot has 6 axis, so there should be six joint angles. Why does the variable $SCR_GRP[1].$MCH_ANG has indices until 9. Similarly, the variable $SV_INFO[1].$AXIS_POS lists 9 indices.

    On the other hand, when I press POSN button on TP, it shows the position information in three representations.

    1. JOINT
    2. X, Y, Z
    3. USER

    Looking only at the JOINT, there is listed six joints only with corresponding angles.


    thanks,

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