To weld a circle by just teaching a center point

chincp

Hi All,

 

Is there anyway to program the robot to only need to teach the center point and just define the diameter/radius of the circle that we wish to have?

 

As I have noticed from Move C command that we need to teach at least 4 points to get a full circle.

 

Thank you very much!

Marcel

Hi

 

You could do your own circle instruction like the following:

 

MODULE CIRCLE

 CONST robtarget p10:=[[1000,300,800],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

 PERS tooldata tGun:=[TRUE,[[-200,0,300],[1,0,0,0]],[1,[0,0,0.1],[1,0,0,0],1,1,1]];

 

PROC main()

 ! call circle

 rCircle p10,v200,z5,tGun,75;

ENDPROC

 

PROC rCircle(

   robtarget Center,

   speeddata Speed,

   zonedata Zone,

   PERS tooldata tool

   PERS wobjdata WObj,

   num nRadius)

 

 ! circle

 MoveJ Offs(Center,nRadius,0,20),Speed,Zone,toolWObj?WObj;

 MoveL Offs(Center,nRadius,0,0),Speed,fine,toolWObj?WObj;

 MoveC Offs(Center,0,nRadius,0),Offs(Center,-nRadius,0,0),Speed,Zone,toolWObj?WObj; 

 MoveC Offs(Center,0,-nRadius,0),Offs(Center,nRadius,0,0),Speed,fine,toolWObj?WObj;

 MoveL Offs(Center,nRadius,0,20),Speed,Zone,toolWObj?WObj;

ENDPROC

ENDMODULE

chincp

Hi Marcel,

 

Thanks a lot! ^^ Will try this program out. =D