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ritchiepham
Posts: 11 Apprentice
Gluing Window Edges Application |
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Hi,
I am trying to have a nozzle travel all the way around a window frame to apply silicone at a constant speed. I am currently using the FT 300 Sensor, MoveP, and linear searches to change directions once it senses a desired amount of force. For example, the nozzle will travel in the negative y direction until it senses 7 Newtons, then "stopl(1)", then the sensor is zeroed and a linear search in the positive x direction begins to move along the window edge. I am having trouble keeping the speed constant when it changes directions. The nozzle pauses for a bit at the corner before switching directions.
Thank you.
I am trying to have a nozzle travel all the way around a window frame to apply silicone at a constant speed. I am currently using the FT 300 Sensor, MoveP, and linear searches to change directions once it senses a desired amount of force. For example, the nozzle will travel in the negative y direction until it senses 7 Newtons, then "stopl(1)", then the sensor is zeroed and a linear search in the positive x direction begins to move along the window edge. I am having trouble keeping the speed constant when it changes directions. The nozzle pauses for a bit at the corner before switching directions.
Thank you.
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The movep will keep a constant tcp speed when used in a continuous path as intended.
If i misunderstood your question please clarify what I’m not understanding.
I actually took out the stopl() and still experienced the same result. The idea is to have a single program that can be used for multiple sizes of windows. Using a plane feature, I created a x-y-z plane on the window. However, this is tricky since the mounts for the window must secure it tightly and allow for no movement. Do you have any suggestions on how to approach this?
I understand what you're saying. I am currently working on a code with your suggestion. I know that pose_trans uses the tool space coordinate system as reference and pose_add uses the base coordinate system as reference. Is there a way to use a plane created by adding a feature as a reference for a pose function? Simply changing the feature in the command tab did no good.
Also, do you think it would be possible to make a "universal" code for various different window sizes?
Yes, you would just need to have parameters for the size of the window and then write the code so that it uses those dimensions in the calculations of each of the waypoints. You could then request the inputs from the user when they start the program
The other way is to use a script function to calculate a waypoint using the assignment feature. If you want to always go in the z-direction of the robot regardless of how the tool is positioned you would use the pose_add(), if you want to move relative to the tool z-axis then you would use pose_trans().
so something like this
myNewWaypoint = pose_trans(Tool, p[0,0,-0.005,0,0,0]) . //The Tool in this is not typed in, it is selected from the pose list in the formula builder screen, it actually returns a script function for getting the current TCP position.
then use that variable as the waypoint in a move by selecting variable from the drop down list of point type.
A question that is a bit off topic. For an instance that the digital input is switched from low to high during a program run and a safety stop (excessive external force is applied to the robot), will the digital input switch back to low automatically or remain high?
I am trying to linear search on a plane that I created. However, I am unable to use anythig but the tool’s coordinate systen as the reference. I have changed the feature under my MoveL’s but nothing changed. I have been able to get a near perfect tool orientation to be parallel to my desired surface by changing the rotation around the axes. I feel there should be an easier way to do this?