Toolpathing of a spiral


I would like to create a spiral toolpath shown in the attached image. I would only like the Robotic arm to move only in the XZ plane (please see lables superimposed on in the attached image). I would also like the Joint 2 of the positioner to turn concurrently in order to maintain a fixed speed along the spiral. I am hoping that I do not have to manually teach the robot and the positioner hundreds of points in order to achieve my goal.

Can someone please suggest a good way to approach this problem?

Thank you.

Best Regards,



  • JWeimanJWeiman Sweden ✭✭✭
    It might be possible to do something like this.
    1. Use AutoPath to create a path with targets along the spiral. Use circlar approximation to keep the number of targets down, and specify a reference surface from the workpiece to orient the targets.
    2. Fix orientation of the targets if needed.
    3. Sync to RAPID.
    4. Modify the external axes value of each target. Either manually by rotating the positioner until the target is straight up, or by calculating the rotation from the x-y position of the target in the rotating workobject. E.g. extax.eaxc = (n * 360) + atan2(trans.x, trans.y) where n is the number of revolutions so far. (Tip: use the data editor, perhaps in conjunction with Excel!)
  • JWeimanJWeiman Sweden ✭✭✭
    ..On the other hand it might be better to take the procedural approach, see attached example.
    Note that it uses circular movements of 180 degrees which might not be a good enough approximation of a spiral. In that case you'd have to use more points.
  • Hello JWeiman,

    Thank you for your response. Your sample program was of great help. You have given me a lot to think about.

    Best Regards,

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