Hello to all..
sorry in advance, if i am asking a wrong question.
Could there be any chance we can use Polar Coordinates (r, theta, z) instead of X,Y,Z Coordinates to guide robot across a circular job..
For a circular job there is limitations of robot movement in a full circle, i want to rotate the job keep the radius constant and playing with Z-Axis only.
regards..
Polar Coordinates ABB IRC5
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sikander bakht -
September 28, 2021 at 7:56 PM -
Thread is Unresolved
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Not that I'm aware of, directly.
I wrote a KUKA program, years ago, to accomplish this mathematically: RE: Tracing a circular path with variable speed
Obviously this program won't work for an ABB, but the underlying math is the same, so translating from KRL to RAPID should be entirely possible.
Another approach might be to create a WorkObject at the center of the circle, program a point in that WO, then rotate the WO around its own axes using PoseMult and executing that point.
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