robot articulation(motor) angle

Akram_Lachiheb

hello,

Please is it possible to assign angle value, in degree, of each robot motor (articulation)?

thanks for any help

John Wiberg

You didn't specify where you wanted this done. But yes...

... if you meant the mechanism model in RobotStudio then in the [Layout] browser, right click the mechanism and in the context menu select [Mechanism Joint Jog] .

Then you can, by joint, either drag the bar, or, with a joint selected use the number keys to enter a specific number of degrees.

...if you instead meant during motion then the RAPID command you are looking for is MoveAbsJ

http://developercenter.robotstudio.com:80/Index.aspx?DevCenter=DevCenterManualStore&OpenDocument&Url=../RapidIFDTechRefManual/doc93.html

like this:

MODULE Module1

     CONST jointtarget JointTarget_1:=[[5,10,15,20,25,30],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PROC Path_10()

        MoveAbsJ JointTarget_1,v1000,z100,tool0\WObj:=wobj0;

    ENDPROC

ENDMODULE

If you meant in some other context then please specify further.

Akram_Lachiheb

Thanks for your response, actually mean using "RAPID" instructions..

Probably "moveabsj" will help..

For example if i want to rotate a "target" in "global" without using : select target-->mouse right clic-->rotate?but using RAPID instructions.

Sorry for my english and by the way what shall i do to change the RS language from French to English without re-installing it ?

Akram_Lachiheb

Is there any equivalent to "RelTool (Point Dx Dy Dz [\Rx] [\Ry] [\Rz])"  but [\RX]... will be rotations along the robot base axis ?

Akram_Lachiheb

For changing the language, i found it. It is simple : file-->options-->appearance-->select application language