How would I incorporate a track system into an offset move.?
How to incorporate a track system into an offset move ?
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Wellrick -
July 24, 2021 at 5:34 PM -
Thread is Unresolved
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Please stop crossposting. Now you have three threads with the same question.
This will get extreme confusing.
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Yeah I'm sorry. Im new to the forum. I'll try to be more careful.
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Also "Programming" for subject will not help anybody else in the future
BTW, I changed the thread title
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Fabian Munoz
July 25, 2021 at 2:21 AM Changed the title of the thread from “Abb programming” to “How to incorporate a track system into an offset move ?”. -
Hi Fabian,
I am currently working on a project with conveyor tracking. Can you be more specific with your question?
Can you put some lines of programming so we can better understand what you need?
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My robot is on a 40" track. I want the robot start at a point and move 20" on the track, move down 10mm, go back 20", down 10mm and so on.
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My robot is on a 40" track
What kind of track? Controlled by what (robot, plc)?. Direction of the track.?
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Hi Wellrick
!CNV1 Pick
WaitWObj wobj1\RelDist:=100; ! \RelDist:=100; If you need an offset in X before pic. (It is opcional)
MoveL pStartPoint, vmax, z20, Tool_2\WObj:=wobj1;
MoveL Offs (pStartPoint,20,0,0) vmax, z20, Tool_2\WObj:=wobj1;
MoveL Offs (pStartPoint,20,0,10) vmax, z20, Tool_2\WObj:=wobj1;
MoveL Offs (pStartPoint,20,0,0) vmax, z20, Tool_2\WObj:=wobj1;
MoveL Offs (pStartPoint,20,0,10) vmax, z20, Tool_2\WObj:=wobj1;
...
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The robot is on a slide track
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I have these 20" long boiler tubes to spray. The spray overlap is 10 mm.
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There 20" long and 4" wide. They will be sprayed on a cart built to transport them.
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So, You don't have Conveyor tracking option?
Try this were you can change the value of external axis an input in reg 1 and move this value into external axis position.
Module xxxx
PERS robtarget pStartPoint:=[[-80,0,45],[0.000540308,-0.72238,0.691495,-0.000986037],[0,-4,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,0]];
PROC yyyy ()
MoveL pStartPoint, vmax, z20, Tool;
MoveL Offs (pStartPoint,20,0,0) vmax, z20, Tool;
!Exemple move 10
reg1:=10
extax. eax_f:= reg1;
MoveL Offs (pStartPoint,20,0,10) vmax, z20, Tool;
MoveL Offs (pStartPoint,20,0,0) vmax, z20, Tool;
MoveL Offs (pStartPoint,20,0,10) vmax, z20, Tool;
ENDPROC
ENDMODULE
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Looks like an IRT501 track.
Check into the Product manual (3HAW050008590). Section 2.8 may be of help. -
This case is NOT appropriate for an offset move at all. Based on the diameter and the 10mm step desired you should calculate the correct RPM for that lathe and the robot travel speed. Minimum recommended surface speed should be 60M/min.
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I don't have the external drive connected to the lathe yet. Ive made programs for the lathe parts. It's the stationary parts I'm working on. I will be trying to figure out the external drive for the lathe very soon. I have to read the manuals first. They want me to be able to spray the flites only.