Circular Move around an Object IRB6700

    Good morning everyone,

    Actually i'm working in a robotic cell where i need to rotate the tool of my robot around a cylindrical object.
    In this figure i will show you an example:

    I'm working with a workobject "temp_wobj" and i start from the robtarget "P_Start".
    The revolution around the object is approximately 80 degrees (but it may vary based on a certain input) and during the movement i should keep the point of the tool perpendicular to the surface.
    I think i can use a MoveC instruction but i don't know how i can define the final target "P_Fine"
    I thought i could define it with RelTool(P_Start,-Radius,0,-Radius,\Rx:=0,\Ry:=-80,\Rz:=0) but with this instruction the rotation occurs around the tool and not around the "temp_wobj" as i want.
    How can i define this point without taking it manually? My starting data are only the temp_wobj, the P_Start, the diameter of the object and the degrees.

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    • Best Answer

    i used to made a perfect weld circle

    moveCirInc 47,7;

    MODULE Unnamed

    PROC CirInc(

    num raggio,

    num inclina)

    CirPathMode \CirPointOri;


    centro:=CRobT(\Tool:=tFRONIUS\WObj:=wATTUALE);

    moveL RelTool(centro,0,raggio,0\Rx:=-inclina\Ry:=inclina\Rz:=0),v200,fine,tFRONIUS\Wobj:=wATTUALE;

    moveC RelTool(centro,raggio,0,0\Rx:=inclina\Ry:=-inclina\Rz:=0),RelTool(centro,0,-raggio,0\Rx:=+inclina\Ry:=-inclina\Rz:=0),v200,z1,tFRONIUS\Wobj:=wATTUALE;

    moveC RelTool(centro,-raggio,0,0\Rx:=-inclina\Ry:=-inclina\Rz:=0),RelTool(centro,0,raggio,0\Rx:=-inclina\Ry:=inclina\Rz:=0),v200,z1,tFRONIUS\Wobj:=wATTUALE;

    moveL RelTool(centro,4,raggio,0\Rx:=0\Ry:=inclina\Rz:=0),v200,fine,tFRONIUS\Wobj:=wATTUALE;

    MoveL RelTool(centro,0,0,-30\Rx:=0\Ry:=0\Rz:=0),v500,z1,tFRONIUS\WObj:=wATTUALE;

    RETURN;

    ENDPROC

    ! moveCirInc 47,7;

    ENDMODULE

  • SimoneCosti February 20, 2024 at 8:24 AM

    Selected a post as the best answer.

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