ABB Robot for continuous path welding

RobotStudio
1

Dear Sir,
I am new to Robotics controller programming. So please help me. :slight_smile:

I modeled ABB Robot in Matlab and wrote a program to do Inverse kinmatics and find Joint angles for circular motion of its end effector. I saved this Joint angles in .CSV file for 200 steps.
How can i input this file to a Robot controller to achieve the motion by on floor Robot?

Kindly suggest some solution

regards,
Soma Sundar A

2

Hi,
You can use joint targets and MoveAbsJ to define motion by joint angles. This is how it would look like in RAPID:

MODULE Module1
 CONST jointtarget JointTarget_1:=[[**0,0,0,0,0,0**],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
 CONST jointtarget JointTarget_2:=[[**10,0,0,0,0,0**],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
 CONST jointtarget JointTarget_3:=[[**20,0,0,0,0,0**],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PROC Path_10()
     MoveAbsJ JointTarget_1,v100,z10,tool0\WObj:=wobj0;
     MoveAbsJ JointTarget_2,v100,z10,tool0\WObj:=wobj0;
     MoveAbsJ JointTarget_3,v100,z10,tool0\WObj:=wobj0;
 ENDPROC
ENDMODULE
3

Thank you sir for the reply. I will work this out and update the progress