Circular motion
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Hello, I'm a new one in robotstudio. I had a problem,how to appear default circular motion(MoveC) in robotstudio 5.10?
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Comments
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Create two regular instructions of type MoveJ or MoveL. Then select them in the browser, right-click to open the context menu, and choose "Create circular instruction". You are done!
Henrik Berlin
ABB0 -
I did a compleat cirkel .... like this i my robot programUTL_moveCC posStart, posCenter, speed_3, z0, tooltempWobj:=objInUse, 0;!*********************************************************
! Procedure: UTL_moveCC
! Description:
! The robot is moved along a complete circle, where
! the startpoint and centrepoint is given..
!
!*********************************************************
PROC UTL_moveCC(
switch Left,
robtarget StPoint,
robtarget CntPoint,
speeddata Speed,
zonedata Zone,
PERS tooldata Tool
PERS wobjdata Wobj,
num eaxnum)VAR robtarget p1;
VAR robtarget p2;
VAR robtarget p3;
VAR robtarget p4;
VAR pos vsc;
VAR pos vc1;
VAR pos v1;
VAR num v1a;
VAR num r;p1:=StPoint;
p2:=StPoint;
p3:=StPoint;
p4:=StPoint;
vsc:=CntPoint.trans-StPoint.trans;
p2.trans:=StPoint.trans+2*vsc;
r:=Sqrt(vsc.x*vsc.x+vsc.y*vsc.y+vsc.z*vsc.z);
v1:=[0,0,1]*vsc;
v1a:=Sqrt(v1.x*v1.x+v1.y*v1.y+v1.z*v1.z);
IF v1a<1 RAISE 1;
vc1:=r/v1a*v1;
IF Present(Left) vc1:=-vc1;
p1.trans:=CntPoint.trans+vc1;
p3.trans:=CntPoint.trans-vc1;
!
MoveL StPoint, Speed, Zone, ToolWObj?wobj;
MoveC p1,p2,Speed,Zone,ToolWObj?Wobj;
MoveC p3,P4,Speed,Zone,ToolWObj?Wobj;
RETURN;
BACKWARD
MoveL StPoint,Speed,Zone,ToolWObj?Wobj;
ENDPROC0 -
or likePERS num Vinkel:=24.5553;
CONST zonedata zone1 := [FALSE,0.2,0.05,0.5,0.5,0.5,0.5];PROC cirkel
switch Left,
robtarget StPoint,
robtarget CntPoint,
speeddata Speed,
zonedata Zone,
PERS tooldata Tool
PERS wobjdata Wobj,
num eaxnum)!
VAR robtarget p0;
VAR robtarget p1;
VAR robtarget p2;
VAR robtarget p3;
VAR robtarget p4;
VAR robtarget p5;
VAR robtarget p6;
VAR robtarget p7;
VAR robtarget p8;
VAR robtarget p9;
!
CONST num pi:=3.1415926535897932384626433832795;
! Vinkel i fA?r cirkelpunkt 0
VAR num cos0:=0.296959;
VAR num sin0:=0.95489;
! Vinkel i fA?r cirkelpunkt 1
VAR num cos1:=0.296959;
VAR num sin1:=0.95489;
! Vinkel i fA?r cirkelpunkt 2
VAR num cos2:=0.296959;
VAR num sin2:=0.95489;
! Vinkel i fA?r cirkelpunkt 3
VAR num cos3:=0.296959;
VAR num sin3:=0.95489;
! Vinkel i fA?r cirkelpunkt 4
VAR num cos4:=0.296959;
VAR num sin4:=0.95489;
! Vinkel i fA?r cirkelpunkt 5
VAR num cos5:=0.296959;
VAR num sin5:=0.95489;
! Vinkel i fA?r cirkelpunkt 6
VAR num cos6:=0.296959;
VAR num sin6:=0.95489;
! Vinkel i fA?r cirkelpunkt 7
VAR num cos7:=0.296959;
VAR num sin7:=0.95489;
! Vinkel i fA?r cirkelpunkt 8
VAR num cos8:=0.296959;
VAR num sin8:=0.95489;
! Vinkel i fA?r cirkelpunkt 9
VAR num cos9:=0.296959;
VAR num sin9:=0.95489;
!
VAR pos vsc;
VAR pos vc1;
VAR pos v1;
VAR num v1a;
VAR num r;
vsc:=CntPoint.trans-StPoint.trans;
p2.trans:=StPoint.trans+2*vsc;
r:=Sqrt(vsc.x*vsc.x+vsc.y*vsc.y+vsc.z*vsc.z);
!
Vinkel:=(PulsDist*360)/(pi*(2*r));
!
v1:=[0,0,1]*vsc;
v1a:=Sqrt(v1.x*v1.x+v1.y*v1.y+v1.z*v1.z);
IF v1a<1 RAISE 1;
vc1:=r/v1a*v1;
IF Present(Left) vc1:=-vc1;
p1.trans:=CntPoint.trans+vc1;
p3.trans:=CntPoint.trans-vc1;
!
p0:=CntPoint;
p1:=CntPoint;
p2:=CntPoint;
p3:=CntPoint;
p4:=CntPoint;
p5:=CntPoint;
p6:=CntPoint;
p7:=CntPoint;
p8:=CntPoint;
p9:=CntPoint;
MoveL CntPoint,Speed,z0,ToolWObj?Wobj;
! i = Vinkel
FOR i FROM Vinkel TO 360+vinkel STEP Vinkel DO
cos0:=Cos(i)*r;
cos1:=Cos(i-(Vinkel*(1/10)))*r;
cos2:=Cos(i-(Vinkel*(2/10)))*r;
cos3:=Cos(i-(Vinkel*(3/10)))*r;
cos4:=Cos(i-(Vinkel*(4/10)))*r;
cos5:=Cos(i-(Vinkel*(5/10)))*r;
cos6:=Cos(i-(Vinkel*(6/10)))*r;
cos7:=Cos(i-(Vinkel*(7/10)))*r;
cos8:=Cos(i-(Vinkel*(8/10)))*r;
cos9:=Cos(i-(Vinkel*(9/10)))*r;sin0:=Sin(i)*r;
sin1:=Sin(i-(Vinkel*(1/10)))*r;
sin2:=Sin(i-(Vinkel*(2/10)))*r;
sin3:=Sin(i-(Vinkel*(3/10)))*r;
sin4:=Sin(i-(Vinkel*(4/10)))*r;
sin5:=Sin(i-(Vinkel*(5/10)))*r;
sin6:=Sin(i-(Vinkel*(6/10)))*r;
sin7:=Sin(i-(Vinkel*(7/10)))*r;
sin8:=Sin(i-(Vinkel*(8/10)))*r;
sin9:=Sin(i-(Vinkel*(9/10)))*r; !p0.trans:=[CntPoint.trans.x+cos0,CntPoint.trans.y+sin0,CntPoint.trans.z];
p1.trans:=[CntPoint.trans.x+cos1,CntPoint.trans.y+sin1,CntPoint.trans.z];
p2.trans:=[CntPoint.trans.x+cos2,CntPoint.trans.y+sin2,CntPoint.trans.z];
p3.trans:=[CntPoint.trans.x+cos3,CntPoint.trans.y+sin3,CntPoint.trans.z];
p4.trans:=[CntPoint.trans.x+cos4,CntPoint.trans.y+sin4,CntPoint.trans.z];
p5.trans:=[CntPoint.trans.x+cos5,CntPoint.trans.y+sin5,CntPoint.trans.z];
p6.trans:=[CntPoint.trans.x+cos6,CntPoint.trans.y+sin6,CntPoint.trans.z];
p7.trans:=[CntPoint.trans.x+cos7,CntPoint.trans.y+sin7,CntPoint.trans.z];
p8.trans:=[CntPoint.trans.x+cos8,CntPoint.trans.y+sin8,CntPoint.trans.z];
p9.trans:=[CntPoint.trans.x+cos9,CntPoint.trans.y+sin9,CntPoint.trans.z];
cntpoint.extax.eax_a:=(i)+eaxnum;p0.extax.eax_a:=(i)+eaxnum;
p1.extax.eax_a:=(i-(Vinkel*(1/10)))+eaxnum;
p2.extax.eax_a:=(i-(Vinkel*(2/10)))+eaxnum;
p3.extax.eax_a:=(i-(Vinkel*(3/10)))+eaxnum;
p4.extax.eax_a:=(i-(Vinkel*(4/10)))+eaxnum;
p5.extax.eax_a:=(i-(Vinkel*(5/10)))+eaxnum;
p6.extax.eax_a:=(i-(Vinkel*(6/10)))+eaxnum;
p7.extax.eax_a:=(i-(Vinkel*(7/10)))+eaxnum;
p8.extax.eax_a:=(i-(Vinkel*(8/10)))+eaxnum;
p9.extax.eax_a:=(i-(Vinkel*(9/10)))+eaxnum;MoveL p9,Speed,zone1,ToolWObj?Wobj;
Movel p8,Speed,zone1,ToolWObj?Wobj;
MoveL p7,Speed,zone1,ToolWObj?Wobj;
MoveL p6,Speed,zone1,ToolWObj?Wobj;
Movel p5,Speed,zone1,ToolWObj?Wobj;
MoveLconc,p4,Speed,zone1,ToolWObj?Wobj;
MoveLconc,p3,Speed,zone1,ToolWObj?Wobj;
MoveLconc,p2,Speed,zone1,ToolWObj?Wobj;
MoveLconc,p1,Speed,zone1,ToolWObj?Wobj;
MoveLconc,p0,Speed,zone1,ToolWObj?Wobj;
ENDFOR
MoveL p0, Speed, fine, ToolWObj?Wobj;
MoveL CntPoint, Speed, fine, ToolWObj:=Wobj;
RETURN;
ENDPROC0
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