movement along axis

carmila

HI,

I have a path along the x and z axis. From my observation, the robot will move diagonally along the resultant of x and z axis.

Can i make it move along the z axis first and then move along the x axis? or maybe any other idea?

(I want to use it in interrupt routine. if interrupt was occur, robot must to back in home position, but it must move along the z axis first, because there are many things in the front of robot -> in x axis. if it moves diagonally, it can be a collision)

orange line: the movement of ABB robot

                           blue line   : the movement that i need

thanks a lot

regards,

carmila

 

carmila2008-6-25 4:33:34

aNoRSWE

Hmm... I'm not sure I got the problem right, but maybe something like this could be used as an idea ..?

 

TRAP myTrap

  VAR robtarget pTmp;

  StopMove;

  WaitTimeInPos, 0.1;

  pTmp:=CRobT(Tool:=tMyToolWObj:=woMyWObj);

  ClearPath;

  nMyZValue:=pMyHomePos.trans.z;

  StartMove;

  MoveL Offs(pTmp,0,0,nMyZValue),v200,fine,tMyToolWObj:=woMyWObj;

  MoveL Offs(pMyHomePos,0,0,0),v100,fine, ... ;

ENDTRAP

aNoRSWE2008-6-27 7:55:43

panchiin

HI, is this solution worked , may be your robot move uptill end limit in some case. Pl do like this ,offset in z=home.z-ptem.z , may be. pl try

br/pankaj

carmila

hi, AnorSWE and Pankaj

thanks for your advices, it very  helpfull. For AnorSWE, there is some miss syntax, the START MOVE. I have try your advice and the robot won't move. When I add the START MOVE before the MOVEL OFFS, it works (by the way, i'm very thankful to you)

For Pankaj, I will try your advice. Thank you so much

regards,

carmila

 

aNoRSWE

That's right, really sorry about that!

I have edited my previous post.

Good Luck!

 

Andreas

 

aNoRSWE2008-6-27 7:56:7