Circular motion

anexhamidi

Hello, I'm a new one in robotstudio. I had a problem,how to appear default circular motion(MoveC) in robotstudio 5.10?

Henrik Berlin

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!

vulpes_h

I  did a compleat cirkel .... like this i my robot program

 

      UTL_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;
  ENDPROC

vulpes_h

or  like

 

 

  PERS 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; 
  ENDPROC