Posts by SimoneCosti

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.

Quote from Lemster68

Your first one might have worked if you had left the x and z component 0, rather than assigning them like you did. Anyway, good job. Make an assingnment of that position to another robtarget after you have manipulated it as desired.

But, is there a function to convert the position from different workobject? Because now i have only the robtarget, the original workobject and the rotated workobject. I need the target rotated in the first wobjMachine. (I don't want to move in position and use CrobT)

Solved, I used:

wobjTemp.oframe := PoseMult(wobjTemp.oframe,[[0,0,0],OrientZYX(0,-45,0)]);
MoveL p2, v100, fine, toolGripper\WObj:=wobjTemp;

But i also need to save that robtarget without moving in that position. How can i do?

I've tried:

p2:=p1

wobjTemp:= wobjMachine;
X := EulerZYX(\X, wobjMachine.oframe.rot);

Y := EulerZYX(\Y, wobjMachine.oframe.rot);

Z := EulerZYX(\Z, wobjMachine.oframe.rot);

wobjTemp.oframe.rot:=OrientZYX(Z,Y+45,X);

MoveL p2, v100, fine, toolGripper\WObj:=wobjTemp;

But it tells me that the position is unreacheable, even if i can move it manually.
Am i writing it wrong?

Hi Everyone,

I'm currently working with an IRB6700 in a robotic cell.
I have a custom workobject (wobjMachine) aligned with a certain machine.
I need to take a robtaget (p2), at the same coordinates of another point (p1) BUT rotated of 45 degrees around the y-axis of the wobjMachine.

How can i write it down?

I tried with:

  p2:=RelTool(p1,0,0,0,\Rx:=0,\Ry:=45,\Rz:=0);
MoveL p2, v100, fine, toolGripper\WObj:=wobjMachine;
OR
  p2:=p1;
Y:= EulerZYX(\Y, p1.rot);
X := EulerZYX(\X, p1.rot);
Z := EulerZYX(\Z, p1.rot);
p2.rot:=OrientZYX(Z,Y+45,X);
MoveL p2, v100, fine, toolGripper\WObj:=wobjMachine;

But none of theese line works, it seems it keeps reorienting around the tool, and i don't want it.

How can i do?

Unfortunatly i can't change the format of the string as you suggest in the first line of code.

But in the second way it works very well! Thank you very much!

Goodmorning,

Actually i'm working on a project with a CRB15000, i'm programming it with Robotstudio. The Robot is mounting a camera that is going to read some serial numbers.

From the camera i receive a string similar to "SN1234|123" but it could be different.

I need to cast this string into an array of byte, so i can send it to my PLC via Profinet with SetGO.

For example:

PERS string sendString;

sendString:= "SN1234|123";

SetGO SendByte0, StrgToByte(sendString{1});

SetGO SendByte1, StrgToByte(sendString{2});

Ecc...

But it didn't work

I also tried with SetGO SendByte0, StrToByte(StrPart(sendString, 1, 1)) but it didn't work.

What is the correct way to do it?

Thanks everyone.

Okey, this could be a good option

Thanks!

But if you use the "Offs" argument on the Move instruction you change all the robtarget of the array, right?

Hello everyone

Currently i'm programming a robotized cells with an Irb6700 and a conveyor. This cells need to manage different types of products and every one has a different grab position.

I was thinking on how i could organize the rapid code in the best way.

The first thing it came up in my mind is to create a function that return a robtarget "generalGrabPose" based on the product code and then use a single instruction MoveL to this robtarget.

But on the other side, if i need to adjust an offset for the position with the flexpendant i can't modify the single moveL instruction...

I could need a long test-case with different MoveL instruction, so i could change the single offs for every robtarget but i don't like pretty much this option.

Is there a better way to organize it? Or some inbuild function to help me?

Thanks.