Difference between revisions of "Program Examples - Robot Helix motion"
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{| cellpadding="10" cellspacing="0" border="1" | {| cellpadding="10" cellspacing="0" border="1" | ||
| − | + | || '''[[File:Helix3.JPG|250px]]''' ||'''[[File:Helix4.JPG|250px]]''' | |
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' module global variables | ' module global variables | ||
| − | dim shared ZeroPosition as joint of xyzypr = {0,0,0,0,0,0} | + | 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 StartPosition as joint of xyzypr = {-45,45,0,0,45,0} | ||
| − | dim shared HelixCenter as location of xyzypr = #{0 , 1200 , 250 , 0 , 180 , -90} | + | 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 HelixStart as location of xyzypr = #{0 , 1000 , -50 , 0 , 180 , -90} | ||
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program | program | ||
| − | Sys.Vrate = 100.0 | + | Sys.Vrate = 100.0 'System's velocity factor (in percents). 100 means no factor. |
with Puma | with Puma | ||
Attach | Attach | ||
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end while | end while | ||
Move ZeroPosition | Move ZeroPosition | ||
| − | + | WaitForMotion Puma | |
call helixMotion | call helixMotion | ||
Move ZeroPosition | Move ZeroPosition | ||
| − | + | WaitForMotion Puma | |
Detach | Detach | ||
end with | end with | ||
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dim i as long | dim i as long | ||
| − | PUMA.BlendingMethod = 1 | + | PUMA.BlendingMethod = 1 'Type of motion blending - 1 is Continous Path blending. |
| − | PUMA.Cp = 2 | + | PUMA.Cp = 2 'At continous path blednign, sets the blend radious value - bigger equal smoother |
Move PUMA ZeroPosition | Move PUMA ZeroPosition | ||
| − | + | WaitForMotion Puma | |
Move PUMA HelixStart | Move PUMA HelixStart | ||
| − | + | WaitForMotion Puma | |
for i = 1 to 3 | 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 | 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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next i | next i | ||
Move PUMA ZeroPosition | Move PUMA ZeroPosition | ||
| − | + | WaitForMotion Puma | |
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
end sub | end sub | ||
</syntaxhighlight> | </syntaxhighlight> | ||
Revision as of 14:33, 29 January 2017
here is an example of doing Robot Helix movement. We use puma 6 axis robot in this example:
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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