Hi
I am new in Mitsubishi Robot programming and need some help. I use at present RT TOOL BOX 3. I want to rotate the joint 6 with "for loop" 10 times(for an example 360/10=36deg each time). How can I rotate the Joint 6 with "for loop" 
Thank you.
Mitsubishi Robot Programming
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tarique1020 -
May 18, 2022 at 1:21 PM -
Thread is Unresolved
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hello, you can try something like this
For M1=1 To 10
Jpositon = J_curr
Jposition.6=J_curr+360 'not sure here how joints are adressed
mov Jposition
Next M1
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hi, i was writting it from memory, now with rt tool box it looks like this
For M1=1 To 10
Jpositon = J_curr
Jposition.J6=J_curr.J6+360
mov Jposition
Next M1
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its in RADs.... at least on my RT toolbox... so +1 mean +57degs aprox
EDIT: aslo somewhere in paramaters, therre is moition range for axis, i think 6th axis can be set as you want(ie -3600 to +3600), but not sure now
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Hi.
Thank you dear. You are absolutely right. Joints move in RAD. I got it and thanks a lot for your very helpful contribution.
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you probably should start by doing it in same kind of coords, using only Jxxx or Pxxx
Jxxx is coord saved in joints angles
Pxxx is coord saved in XYZABC
it could be hard for controler to calculate trajectory from Pxxx to Jxxx with big diferences and short distance between
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Hi, If you want to work in DEG not in RAD the parameter is:
Parameter -> Progam Parameter -> Command -> PRGMDEG
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HI
I have fixed the problem, just littel bit problem inside. every time it comes more down to actual position. Do you have any idea how I can resolve this problem
you are changing Z coord, it has to come lower each cycle, if you want to it go down and back you have to change Z back somewhere in cycle
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Hello!
You can try something like this:
Tool 0
*loop
JCurrPos = J_Curr 'Starting Position
JCurrPos.J6 = Rad(-36) 'Set J6 axis to -36 degrees
Mov JCurrPos 'Rotate J6 aaxis to -36 degrees
'Initialize for loop
M1=1
MEnd = 10
For M1=1 to MEnd
MRotAngle = Rad(360/MEnd) 'Calculate rotation angle for each iteration in radians
JOffset = SetJnt(0,0,0,0,0,M1*MRotAngle) ' Set offset
Mov JCurrPos + JOffset 'Rotate 6 axis
Dly 1 'Dly for better visualization
Next M1
GoTo *loop
But I don't know if it is the easiest way.
Let me know if you find better one
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Maybe you just try this code
'=================================
For M1 = 1 To 10 Step 1
'(X,Y,Z,A,B,C)
P1 = P1 + (0,0,0,0,0,10)
Mvs P1
Dly 2
Next M1
'=================================
in axis 6 is parameter C in position and use P1 + (X,Y,Z) to chage coordinate tool
but becareful in axis 6 if you rotate to 360 degree will be alarm over limit.
just set to 359 degree or lower
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