How to program ArcC Instruction

hagen

Hello at all!!!

I created an arcL instruction. after this i wanna go on with an arcC instruction
(like on the picture below).
Now i dont know how to arrange the targets in the arcC instruction.



Currently my instructions look like this:
ArcLStart B60, v150, seam1,.....
ArcLEnd B70, v150,.....
ArcCStart B80, B90, v150,.....
ArcCEnd B80, B90,......



When i execute it like this, i got the following error messages:
Circle uncertain.
1 End point too close to start.
2 Circle point too close to start
3 Circle point too close to end
4 Uncertain reorientation
5 Circel too large

Need some help with this!
Thank you!

hagen2010-01-14 04:26:12

osku

Hi

 

If you want to have one continuous weld from B60 to B90, you should write your instructions like this:

 

ArcLStart B60, v150, seam1,..... <?: PREFIX = O />
ArcL B70, v150,.....
ArcCEnd B80, B90,......

 

The targets in ArcC are defined just like in MoveC instruction. First target is the circ point and the second target is the end point. I hope this helps!

 

-Oskari

hagen

Hi!

Thanks a lot!!! That helped realy a lot, also in general understanding.

But now i got a new problem, when executing the path. After the first welding path a get always get the following error messages:

Unsafe flying end
Description
Program execution has proceeded to the next RAPID instruction before the application process finished.
Consequenses
If a process error occurs, the application process will be stopped on the fly, but the robot movement will not be stopped.
Probable causes
The zone size and the fly_end distance of the flying end instruction do not fit together.
Actions
Increase fly_end distance or decrease the zone size of the instruction with flying end.

Fatal process error
Description
Task: T_ROB1
A fatal process error has been reported. Check previous error messages for more information about the reason of the error.
Consequenses

Probable causes

Actions
A restart of the system or move of program pointer is highly recommended.

Execution error state
Description
Execution of all tasks has been stopped due to a spontaneous error.
Consequenses
No program execution will be possible until the error has been removed.
Probable causes
A large number of malfunctions may cause this condition. Please use the FlexPendant or RobotStudioOnline to check other event log messages for events occurring at this time!
This operational message is also generated at execution of the RAPID instruction Stop AllMoveTasks.
Actions
1. Determine what caused the stop by studying the event log.
2. Remedy the fault.
3. If neccesary, move Program Pointer to main before pressing start button.


I already decreased the zone to 0 in all instructions, but that didnt not help.
And what is meant by fly_end distance. Where can i select this and how to change??

Thanks a lot for all help!!

osku

Hi!

 

You should use zonedata 'fine' in the ArcLStart and ArcLEnd/ArcCEnd instructions. I think it will work with that.

 

-Oskari

hagen

Hi Oskari!
Thanks al lot again!!!
I changed zone to fine, in all ArcEnd/Start instructions and it works.