Helix Programming

airmax 2017-07-02

Hello! How can i programm an Helix movement in Z direction?

matthewd92 2017-07-02

This post, http://dof.robotiq.com/discussion/550/how-to-make-a-spiral-motion-on-a-surface-of-5cm-3cm-using-universal-robot , gives an example of a spiral script that allows you to move the arm in a spiral pattern on a plane. We've used this same basic script and given it a z axis component to create a conical helix. You could also modify it slightly to give you a straight helix with a fixed diameter.

airmax 2017-07-03

Hi Matthew! Thanks for your fast answer. I have seen this post. My problem is more that i want to teach a loop square or circular pattern an when reaching the start/end point to move the tcp in z direction and perform the the loop again. The application will be for rapid protoyping.

matthewd92 2017-07-03

That's rather easy, wrap your motion in a loop, at the end of each loop take a step in the Z direction and then keep looping until you have reached the number of layers. You will need to use relative waypoints or you can teach them to a feature such as a plane and then at the end index the plane in the z direction

i=0
Loop until i = 10
Move
  waypoint1  
  waypoint2  (relative to 1)
  waypoint3  (relative to 2)
  waypoint4 (relative to 3)
  waypoint5 same as 1 (relative to 4)
  move in Z direction (relative)
  i=i+1
end loop

I am on a deployment this week so not sure I will have much time to work up a demo but let me know if this doesn't make sense or you need some more clarification.

airmax 2017-07-04

Hi Matthew! I teached the waypoints with relative postions, also waypoint 1. The movement in z direction works, but when i am moving in process move it will not hold the pattern. It is deviating after every circle in one direction. Is this due to the blend radius?

matthewd92 2017-07-04

Try taking waypoint 1 out of the loop. Use it only as a starting point as a fixed waypoint. Make your last relative waypoint be the same location as waypoint 1 when you're teaching. What's happening is waypoint1 is moving over however far it was from the preceding point after each iteration.