Independant Axis

RobotStudio
1

Hi,

Was hoping to test out all the Independant axis instructions in robotstudio but it doesn’t seem to do anything ???

I’m using robotstudio 5.12 with the 5.12 robotware.
Have set axis 6 as independant
Defined max values for upper and lower independant bounds.
Used code out of the “Motion Functions and Events” manual as follows

PROC Polish()
!Change axis 6 of ROB_1 to independent mode and
!rotate it with 180 degrees/second
IndCMove ROB_1, 6, 180;

!Wait until axis 6 is up to speed
WaitUntil IndSpeed(ROB_1,6InSpeed);
WaitTime 0.2;

!Move robot where you want to polish
MoveL p1,v10, z50, tool1;
MoveL p2,v10, fine, tool1;

!Stop axis 6 and wait until it?_Ts still
IndCMove ROB_1, 6, 0;
WaitUntil IndSpeed(ROB_1,6eroSpeed);
WaitTime 0.2;

!Change axis 6 back to normal mode and
!reset measurement system (close to 0)
IndReset ROB_1, 6 RefNum:=0 Short;

ENDPROC

Axis 6 doesnt rotate although the value for the axis in the jogging window of the virtual pendant does change as the program is stepped through
Nothing happens when IndReset is executed.

Is this a known issue or am i missing something critical ???

Regards
bigM

2

Hi,
This is a known limitation. The behaviour is as you explain, the value for the axis moved independent is changed in the Virtual Controller, but the mechanism in the station stand still.

3

Thanks,

Is this also the same for a virtual controller with the option “Path Offset” giving an error when using the CorrCon instruction, saying the option is not installed?

Any plans for fixing these in the next release?

Regards,
bigM