Program Examples - Robot Helix motion

here is an example of doing Robot Helix movement. We use puma 6 axis robot in this example:

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}
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 HelixStart as location of xyzypr =  #{0 , 1000 , -50 , 0 , 180 , -90}

dim shared RobotVelocity as double = 40.0

program

    Sys.Vrate = 100.0
    with Puma
        Attach
            En = TRUE
            Sleep 100
            while NOT En
                Sleep 100
            Vcruise = RobotVelocity          'Set robot's cruise velocity 
            end while
            Move ZeroPosition
            call waitMotion
                call helixMotion
            Move ZeroPosition
            call waitMotion
        Detach
    end with    

end program


sub helixMotion

    dim i as long

    PUMA.BlendingMethod = 1
    PUMA.Cp = 2
    Move PUMA ZeroPosition
    call waitMotion
    Move PUMA HelixStart
    call waitMotion
    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
    call waitMotion
    
end sub

sub waitMotion
    while puma.IsMoving
        Sleep 1
    end while
end sub