Posts by krasko vasiliy
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This is an example of code on the basis of which we will program the movement of the robot and its correction. When I program the movement along coordinates relative to my base, the robot moves along them, the rsi signal flow goes but no correction occurs. Where am I going wrong? Maybe someone has an example of programming overlay correction relative to the planned trajectory.
Code
Display More1 DEF RSI_DistanceCtrl( ) 2 ; ============================================= 3 ; 4 ; RSI EXAMPLE: Distance Crtl 5 ; Move on a LIN path with superimposed corrections 6 ; Deviation from programmed path is controlled with 7 ; a analog input $ANIN[1] 8 ; 9 ; ============================================= 10 11 ; Declaration of KRL variables 12 DECL INT ret; Return value for RSI commands 13 DECL INT CONTID; ContainerID 14 15 INI 16 17 ; Move to start position 18 PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0} 19 $BASE=$POS_ACT 20 21 ; Create signal processing 22 ret=RSI_CREATE("RSI_DistanceCtrl.rsi") 23 IF (ret <> RSIOK) THEN 24 HALT 25 ENDIF 26 27 ; Start signal processing in relative correction mode 28 ret=RSI_ON(#RELATIVE) 29 IF (ret <> RSIOK) THEN 30 HALT 31 ENDIF 32 33 LIN_REL {Y 100} 34 35 ; Turn off RSI 36 ret=RSI_OFF() 37 IF (ret <> RSIOK) THEN 38 HALT 39 ENDIF 40 41 END
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KRC 4-8.3.38, RSI-3.3.5.
I have a welding robot. I installed a 2D correction sensor for it. I do not have much programming experience, so I ask for help from professionals. There is very little information. Programming is reduced to the principle of specifying the starting point, direction, and length of the weld. This is not very suitable for me, since there are many difficult movements and the Sensor is installed relative to the torch at a melting distance of about 40mm. I have seen programs for welding with arc correction. Everything is there simply to indicate the start, intermediate and end points of welding. Who can share examples of programming for 2D Sensors connected with RSI. Or examples of functions ... Thank you for any information in advance.