Shakey hand simulation

hi all,

my company makes a handheld measuring device, but it can also be attached to robots for automative purposes. we use a Kawasaki robot to do the calibration of this. the process is that the robot moves the device into position, start the robot "shaking", take a measurement, stop the "shaking", and move to the next position.

the shaking a just basically moving the device suedo-randomly in the cartesian x/y axes around the main position using relative offset movements.

we have aquired a Fanuc CRX-10iA and have written a Tablet plugin to measure with the device - which works fine BUT without the shaking bit.

I've been reading that the robot can't be moved using KAREL code but was suggested that a KAREL program could start a TP program to "shake".

would this be something like:

RUN_TASK "looping shake TP prog" -> measure code -> ABORT_TASK "looping shake TP prog" ?

but this of course bring me to TP programs which i have very little experience with. how would i go about doing the shake in the TP program? i can't seem to find anything about moving the robot relatively using offsets in an easy way.

the "shaking" offsets just needs to be something like:

X,Y,Z,Rx,Ry,Rz

1,0,0,0,0,0 -- 1mm X axis

0,1,0,0,0,0 -- 1mm Y axis

-1,0,0,0,0,0 -- -1mm X axis

0,-1,0,0,0,0 -- 1mm Y axis - back to the start position

this is simplified a bit but to give a idea of what i need to achieve

thanks in advance for any help you can give me.

regards,

Chris

hi @PnsStarter

thanks for the quick answer. i think i can follow whats happening in there

but i get an error "INTP-204: (SHAKE_RANDOM, 4) Invalid value for index"

here's the full code saved out...

/PROG  SHAKE_RANDOM
/ATTR
OWNER        = MNEDITOR;
COMMENT        = "";
PROG_SIZE    = 582;
CREATE        = DATE 24-02-16  TIME 14:00:36;
MODIFIED    = DATE 24-02-16  TIME 14:00:36;
FILE_NAME    = ;
VERSION        = 0;
LINE_COUNT    = 18;
MEMORY_SIZE    = 890;
PROTECT        = READ_WRITE;
TCD:  STACK_SIZE    = 0,
      TASK_PRIORITY    = 50,
      TIME_SLICE    = 0,
      BUSY_LAMP_OFF    = 0,
      ABORT_REQUEST    = 0,
      PAUSE_REQUEST    = 0;
DEFAULT_GROUP    = 1,*,*,*,*;
CONTROL_CODE    = 00000000 00000000;
LOCAL_REGISTERS    = 0,0,0;
/MN
   1:  !AR[1]: MinMaxRandomX ;
   2:  !AR[2]: MinMaxRandomY ;
   3:  !AR[3]: MinMaxRandomZ ;
   4:  PR[10001]=LPOS    ;
   5:  R[10001]=AR[1]*(-1)    ;
   6:  R[10002]=AR[2]*(-1)    ;
   7:  R[10003]=AR[3]*(-1)    ;
   8:  !RAND2REG(Min,Max,targetReg) ;
   9:  CALL RAND2REG(R[10001],AR[1],10001) ;
  10:  CALL RAND2REG(R[10002],AR[2],10002) ;
  11:  CALL RAND2REG(R[10003],AR[3],10003) ;
  12:  PR[10002,1]=R[10001]    ;
  13:  PR[10002,2]=R[10002]    ;
  14:  PR[10002,3]=R[10003]    ;
  15:  PR[10002,4]=0    ;
  16:  PR[10002,5]=0    ;
  17:  PR[10002,6]=0    ;
  18:J PR[10001] 50% FINE Offset,PR[10002]    ;
/POS
/END

hi @PnsStarter

yes that's working perfectly now. thank you.

Regards,

Chris