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Measure the path's length

dragolollo
dragolollo ✭
in RAPID Programming
Hello, 
I would like to measure the length of the path that is followed by the tool...is it possible to do it in someway?
Thank you.


Comments

  • lemster68
    lemster68 ✭✭✭
    The distance function, Dist() will calculate the distance between two points.
    Lee Justice
  • dragolollo
    dragolollo ✭
    I know that function but it only gives the distance between the 2 point but not the lenght of the path that the tool follows from one point to the other 
  • lemster68
    lemster68 ✭✭✭
    I think that is the best that you have available.  I can imagine that a joint move could have the tcp moving along a longer path than merely the straight line distance in cartesian space.
    Lee Justice
  • j_proulxFB
    j_proulxFB ✭
    There is a new function in RW 6.09. From the Rapid reference Manual

    2.132 PathLengthGet - Reads the current path-length value of the counter

    Usage

    PathLengthGet is used to read the current value of the counter that measures the path-length travelled by the robot’s TCP.

    The returned value is in millimeters and is always measured relative the work object.

    This function can be called at any time, but it is advisable that it is called when the robot is standing still to get a predictable behavior.

    The path-length value is read for the TCP robot in actual or connected motion task.

    Example 1

    PathLengthStart;
    MoveJ p10, v1000, z50, L10tip;
    ...
    MoveL p40, v1000, fine, L10tip;
    PathLengthStop;
    TPWrite "PathLengthGet: "+ValToStr(PathLengthGet());
    PathLengthReset;

    This example read out the value of the counter that measures the path-length
    travelled by the robot’s TCP. The value is then written to the FlexPendant.
  • dragolollo
    dragolollo ✭
    Thank you!!!
  • Massimiliano
    Massimiliano ✭
    Good evening, PathLengthStart and PathLengthStop are very interesting commands, but they only work with MoveL commands. When I try to use them with PaintL commands, the result is always 0. Are there any commands that measure the length of the path with PaintL and SetBrush commands, or any functions within PaintPowerPac?
  • jarmster
    jarmster ✭
    PathLengthStart and PathLengthStop do not function with PaintL instructions within ABB RAPID. An ABB user forum discussion explicitly notes that using these functions with PaintL commands consistently yields a result of 0. 
    The PaintL instruction is part of the specialized Painting PowerPac software suite, which handles path generation and analysis differently from standard RAPID movements. 
    Alternative Methods
    Instead of using the RAPID functions for path measurement in the controller, you should use the analysis tools within the RobotStudio Painting PowerPac simulation environment:
    • Simulation Reports: The Painting PowerPac provides built-in tools that calculate essential data after a simulation run, such as estimated paint consumption, gun-on time, and coverage analysis. This information implicitly relies on accurate path length calculations managed internally by the software.
    • Virtual Measurement: Within the RobotStudio environment, you can use the built-in measurement tools to check distances and paths on the CAD models.
    • Synchronize to standard RAPID (Workaround): For testing standard path length functions, you could temporarily synchronize your PaintL paths to standard MoveL commands in RobotStudio. While this would allow PathLengthGet to work, the resulting length might slightly differ from the actual paint path due to how the PowerPac handles specific process instructions and potential path optimizations. 
    The primary method for analyzing paint paths, including length, is through the comprehensive reporting features available in the ABB RobotStudio Painting PowerPac simulation.

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