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Repeat figure + rotation positioner

  • jesusvaricap
  • June 17, 2022 at 3:12 AM
  • Thread is Unresolved
  • jesusvaricap
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    • June 17, 2022 at 3:12 AM
    • #1

    KSS 5.2.14

    KR210_L150_S200

    Customized positioner Using kuka motor


    Hello ,

    I have ready robot+ positioner , plasma machineI need to cut a lttle rectangle on big pipe with plasma like this:

    https://sc04.alicdn.com/kf/H00c693effd…a8eebf7253h.jpg

    https://sc04.alicdn.com/kf/HTB1UguUavBj_uVjSZFp7630SXXaF.png

    https://sc04.alicdn.com/kf/HTB1GE4OdlKw3KVjSZTEq6AuRpXaj.jpg

    In the past i used the next program using kuka robot like a table cut:


    Code
    INI
    PTP HOME Vel= 100 % DEFAULT
    PULSE 10 'Relay1' State= TRUE CONT Time= 0.3 sec
    WAIT Time= 0.5 sec
    PTP P1 Vel= 100 % PDAT1
    LIN P14 Vel= 0.5 m/s CPDAT5 Tool[1] Base[0]
    
    CHANGE_BASE ( )
    POINTS ( )
    
    PTP P21 Vel= 100 % PDAT10 Tool[1] Base[0]
    LIN P22 Vel= 0.5 m/s CPDAT12 Tool[1] Base[0]
    
    
    CHANGE_BASE ( )
    POINTS ( )
    
    PTP P23 Vel= 100 % PDAT11 Tool[1] Base[0]
    LIN P24 Vel= 0.5 m/s CPDAT13 Tool[1] Base[0]
    
    CHANGE_BASE ( )
    POINTS ( )
    
    PTP HOME Vel= 100 % DEFAULT
    
    END
    DEF CHANGE_BASE ( )
    ;***********************NO_MODIFY*******************
    BASE_DATA[12].X=$POS_ACT.X
    BASE_DATA[12].Y=$POS_ACT.Y
    BASE_DATA[12].Z=$POS_ACT.Z
    WAIT Time= 1 sec
    ;****************************************************
    END
    DEF POINTS ( )
    ;*******here touch up on BASE 12 the figure to repeat ******
    OUT 10 'Relay1' State= TRUE
    WAIT Time= 0.3 sec
    LIN P15 CONT Vel= 0.05 m/s CPDAT6 Tool[1] Base[12]
    LIN P16 CONT Vel= 0.05 m/s CPDAT7 Tool[1] Base[12]
    LIN P17 CONT Vel= 0.05 m/s CPDAT8 Tool[1] Base[12]
    LIN P18 CONT Vel= 0.05 m/s CPDAT9 Tool[1] Base[12]
    LIN P19 Vel= 0.05 m/s CPDAT10 Tool[1] Base[12]
    OUT 10 'Relay1' State= FALSE
    LIN P20 Vel= 0.5 m/s CPDAT11 Tool[1] Base[12]
    ;*******************************************
    END
    Display More


    The program works very well to do a nesting , only need touchup 1 time on ¨BASE 12 the piece to repeat , and on NULLFRAME the movements to aproach where i want to repat the piece


    Using the past example , how can repeat the piece (before touchped just 1 time ) rotating pipe with positioner ,touchup with NULLFRAME the movements to aproach where i want to repat the piece ?


    Thanks

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