Independent tool movement

plewandowski

Hello everyone - I've got one small question - is it possible to move tool independently during path movement? I mean i want to move from point A to point B but in addition I need tool to move +/- 0.5mm from left to right side (something like wave in ArcWelding) and i don't want to create over 50 points for one short path

PerSvensson

One way is that you create your own move instruction(Procedure) and do all the calculation of motion points and do the motion inside there. The motion in this case is just taking the robot to a end point with some reltool recalculation (which makes the path) on the way which should be fairly easy calculations.

Knud E Lindberg

You can use the reltool funcion, this will make an offset relative to the Tool.

jerry-licao

Hello , I have considered this question for a long time, but did't find a good solution, anyone can help?

PerSvensson

Hi Here is quite a simple example it assume that the travel direction is +y. But at least you have something to start with.

PerSvensson

And for your info it's a straight line(same x value) so no vector direction is taking into calculation

plewandowski

Well it would be quite simple if I'd just move in one axis - during path i have to move in y and z axis and in addition I need small weave in x axis (I think i might forget to mention that)

PerSvensson

Well then you have to do a lot of vector mathematics. Could be easier to do this using RS API(easier to program this in C# using the graphic functions) that creates a path instead of doing it in Rapid.

plewandowski

Also I forgot to mention - I'm using IRB2600 with ArcWelding PowerPack but we use Fronius Welder with DeviceNet inferface - we just send program no., start/stop commands to welder - I don't know if it's possible to just use ArcWelding movement instructions without any other commands like ArcXStart/ArcXStop etc.

plewandowski

up anyone can help?

PerSvensson

You could also take a look at the CAP (continuous application platform) option which is kind of a development framework for develop your own motion instructions, like Arc.