Coordinated Motion between Robot and Positioner.......now what?

TysonDeNobrega

What I'm working with, IRB 4600, IRBP A750,while doing plasma cutting and MIG cladding operations. Ok, so I've managed to coordinate my robot and positioner. Which is awesome! When the positioner jogs the robot stays on point. However I'm a little lost, in terms of RAPID code, on how to take full control over this new ability. For all past programs I've been able to code the two machines independently within the same task. I have parametric equations for all curves and features of my weldments and a parameterization variable shared between the code executed by the two machines which keeps them "Synced". This method works well for now but i fear as things get more complicated it will fail. My question is how do I take advantage of the magic that is coordinated motion? Are there specific commands that will illustrate its capabilities? How has it made your work easier? Thanks

bob865

Are you using this as a multimove system so they are truly coordinated? Or are you just getting a coordinated motion by making sure they 2 are moving at the same speeds?

TysonDeNobrega

Im not sure if it is actually multimove but I am using a movable workobject. Whenever I jog the positioner the robot stays in the same spot (and orientation) relative to the positioner plate. While discussing this with a colleague we've come to the conclusion that the biggest benefit is constant speed of the TCP relative to the work piece situated on the positioner. Which is very important in arc welding applications. However after having a day to try my hand at programming in the coordinated setting, I cant seem to achieve constant speed. What is required to achieve this benefit?

TysonDeNobrega

So a quick update: I have the Robot arm and positioner in the same task, in the same procedure. All motion commands are in the movable workobject frame, which is attached to the positioner. Using the arc commands I first move axially at v1000, then i rotate the positioner 90° at v10. Which does not give constant relative velocity between the TCP and workobject. Should the weld speed in an arcmove not over ride the speed data for the move commands?

TysonDeNobrega

I'd post my RAPID code but I can never get paragraphs or line breaks to work on this forum.

graafderk

You should use HTML-tags for that:
<br>

as in: hello<br>world results in:
hello
world

TysonDeNobrega

Here is my RAPID code to plasma cut the cope for a small pipe of radius (b) into a large pipe of radius (a).


PROC MoveInTandem()!*********************************************************
ActStn1;
a:=518/2;
b:=80.3/2;
phi:=90;
a_wall:=25.4*3/8;
i:=0;
pPos_zero.rot:=OrientZYX(0,270,0);
pTemp1:=Offs(pPos_zero,a,0,zoffs-b);
pTemp2:=Offs(pPos_zero,a*Cos(b/a),b,zoffs);
pTemp3:=Offs(pPos_zero,a,0,zoffs+b);
pTemp4:=Offs(pPos_zero,a*Cos(b/a),-b,zoffs);
pTemp1.rot:= OrientZYX(0,270,-5);
pTemp2.rot:= OrientZYX(0,270,-5);
pTemp3.rot:= OrientZYX(0,270,-5);
pTemp4.rot:= OrientZYX(-0,270,-5);
pTemp1.extax.eax_c:=0;
pTemp2.extax.eax_c:=-ASin(b / a);
pTemp3.extax.eax_c:=0;
pTemp4.extax.eax_c:=ASin(b / a);
TPWrite "This is 1 " \Num:=pTemp1.extax.eax_c;
TPWrite "This is 2 " \Num:=pTemp2.extax.eax_c;
TPWrite "This is 3 " \Num:=pTemp3.extax.eax_c;
TPWrite "This is 4 " \Num:=pTemp4.extax.eax_c;
TriggIO triggPlasma,0.1\DOp:=PlasmaTrigger,1;
TriggJ Offs(pPos_zero,a,0,zoffs),v100,triggPlasma, fine,tPlasma\WObj:=wobj_Pos;
ArcStart Offs(pPos_zero,a,0,zoffs), v200,seam1,weld_fill,fine,tPlasma\Wobj:=wobj_Pos;
MoveL pTemp2,v100,z0,tPlasma\WObj:=wobj_Pos;
MoveC\Conc, pTemp3,pTemp4,v10,z0,tPlasma\WObj:=wobj_Pos;
MoveC ptemp1,pTemp2,v10,z0,tPlasma\WObj:=wobj_Pos;
TriggIO triggPlasma,0.1\DOp:=PlasmaTrigger,0;
TriggJ Offs(pPos_zero,a,0,zoffs),v100,triggPlasma, fine,tPlasma\WObj:=wobj_Pos;
ArcEnd Offs(pPos_zero,a,0,zoffs), v200,seam1,weld_fill,fine,tPlasma\Wobj:=wobj_Pos;
ENDPROC

GarLuna

I want to know about your cutter and the positioner? What type of machine these are.
I also use the cutter and the positioner machines in my projects.
I want to know is it use any electronic MCU if yes then what type of MCU?
I also want to know about its motors and other hardware components.