Difference between revisions of "Program Examples - Robot Helix motion"

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(Created page with "here is an example of doing Robot Helix movement. We use puma 6 axis robot in this example: File:Helix1.JPG Helix.PRG: <syntaxhighlight lang="vb"> '---------------------...")
 
 
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here is an example of doing Robot Helix movement. We use puma 6 axis robot in this example:
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{{Languages|Program_Examples_-_Robot_Helix_motion}}
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[[File:Helix1.JPG]]
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Example of Robot Helix movement. We use puma 6 axis robot:
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Click image for 360° video:
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[[File:vid_prev.png|link=http://softmc.servotronix.com/img_auth.php/f/fe/Helix.html|400px]]
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{|  cellpadding="10"  cellspacing="0"  border="1"
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|| '''[[File:Helix3.JPG|250px]]''' ||'''[[File:Helix4.JPG|240px]]'''
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|}
  
  
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' module global variables
 
' module global variables
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dim shared jntZeroPosition as joint of xyzypr = {0,0,0,0,0,0}
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dim shared ZeroPosition as joint of xyzypr = {0,0,0,0,0,0}                              '{J1,J2,J3,J4,J5,J6}
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dim shared jntStartPosition as joint of xyzypr = {-45,45,0,0,45,0}
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dim shared StartPosition as joint of xyzypr = {-45,45,0,0,45,0}
  
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dim shared locHelixCenter as location of xyzypr = #{0 , 1200 , 250 , 0 , 180 , -90}
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dim shared HelixCenter as location of xyzypr = #{0 , 1200 , 250 , 0 , 180 , -90}        '{X,Y,Z,Y,P,R}
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dim shared locHelixStart as location of xyzypr =  #{0 , 1000 , -50 , 0 , 180 , -90}
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dim shared HelixStart as location of xyzypr =  #{0 , 1000 , -50 , 0 , 180 , -90}
  
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dim shared dVelSlow as double = 40.0
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dim shared RobotVelocity as double = 40.0
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dim shared dVelFast as double = 80.0
 
  
 
program
 
program
  
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     Sys.Vrate = 100.0
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     Sys.Vrate = 100.0                       'System's velocity factor (in percents). 100 means no factor.
 
     with Puma
 
     with Puma
 
         Attach
 
         Attach
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             while NOT En
 
             while NOT En
 
                 Sleep 100
 
                 Sleep 100
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            Vcruise = RobotVelocity          'Set robot's cruise velocity
 
             end while
 
             end while
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             Move jntZeroPosition Vcruise=dVelSlow
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             Move ZeroPosition
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             call waitMotion
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             WaitForMotion Puma
 
                 call helixMotion
 
                 call helixMotion
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             Move jntZeroPosition Vcruise=dVelSlow
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             Move ZeroPosition
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             call waitMotion
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             WaitForMotion Puma
 
         Detach
 
         Detach
 
     end with     
 
     end with     
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     dim i as long
 
     dim i as long
  
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     PUMA.BlendingMethod = 1
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     PUMA.BlendingMethod = 1                 'Type of motion blending - 1 is Continous Path blending.
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     PUMA.Cp = 2
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     PUMA.Cp = 2                             'At continous path blednign, sets the blend radious value - bigger equal smoother
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     Move PUMA jntZeroPosition Vcruise=dVelSlow
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     Move PUMA ZeroPosition
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     call waitMotion
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     WaitForMotion Puma
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     Move PUMA locHelixStart Vcruise=dVelFast
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     Move PUMA HelixStart
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     call waitMotion
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     WaitForMotion Puma
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     for i = 1 to 2
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     for i = 1 to 3
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        Moves PUMA locHelixStart Vtran=PUMA.VmTran
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        Circle PUMA Angle=3*360 CircleCenter = HelixCenter Vtran = PUMA.VmTran     'Circle center has different Z coordinate then circle starting point - causing Helix and not plane circle
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        Circle PUMA Angle=3*360 CircleCenter = locHelixCenter Vtran = PUMA.VmTran
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        Moves PUMA HelixStart Vtran=PUMA.VmTran                                    'Moves to start point in stright line (translation)
 
     next i
 
     next i
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     Move PUMA jntZeroPosition Vcruise=dVelSlow
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     Move PUMA ZeroPosition
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     call waitMotion
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     WaitForMotion Puma
 
      
 
      
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end sub
 
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sub waitMotion
 
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    while puma.IsMoving
 
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        Sleep 1
 
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    end while
 
 
end sub
 
end sub
 
</syntaxhighlight>
 
</syntaxhighlight>

Latest revision as of 06:43, 17 July 2017

Language: English  • 中文（简体）‎

Example of Robot Helix movement. We use puma 6 axis robot:

Click image for 360° video:

vid prev.png

Helix3.JPG Helix4.JPG


Helix.PRG: 

'------------------------------------------------------------------------------
' File:        Helix.prg
' Purpose:     generating puma helix motion
' Version:     1.00
' Author:      Eran Korkidi
' History:     10.DEC.2015    -    created
'------------------------------------------------------------------------------

' module global "constants"


' module global variables
dim shared ZeroPosition as joint of xyzypr = {0,0,0,0,0,0}                              '{J1,J2,J3,J4,J5,J6}
dim shared StartPosition as joint of xyzypr = {-45,45,0,0,45,0}

dim shared HelixCenter as location of xyzypr = #{0 , 1200 , 250 , 0 , 180 , -90}        '{X,Y,Z,Y,P,R}
dim shared HelixStart as location of xyzypr =  #{0 , 1000 , -50 , 0 , 180 , -90}

dim shared RobotVelocity as double = 40.0

program

    Sys.Vrate = 100.0                        'System's velocity factor (in percents). 100 means no factor.
    with Puma
        Attach
            En = TRUE
            Sleep 100
            while NOT En
                Sleep 100
            Vcruise = RobotVelocity          'Set robot's cruise velocity 
            end while
            Move ZeroPosition
            WaitForMotion Puma
                call helixMotion
            Move ZeroPosition
            WaitForMotion Puma
        Detach
    end with    

end program


sub helixMotion

    dim i as long

    PUMA.BlendingMethod = 1                 'Type of motion blending - 1 is Continous Path blending.
    PUMA.Cp = 2                             'At continous path blednign, sets the blend radious value - bigger equal smoother
    Move PUMA ZeroPosition
    WaitForMotion Puma
    Move PUMA HelixStart
    WaitForMotion Puma
    for i = 1 to 3
         Circle PUMA Angle=3*360 CircleCenter = HelixCenter Vtran = PUMA.VmTran     'Circle center has different Z coordinate then circle starting point - causing Helix and not plane circle
         Moves PUMA HelixStart Vtran=PUMA.VmTran                                    'Moves to start point in stright line (translation)
    next i
    Move PUMA ZeroPosition
    WaitForMotion Puma
    
end sub
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