Offset, Axis Offset, Rel Tool, or...?

Robot Controller
1

Hello, need some programming advice. Equipment: Shaft located horizontal and rotated on external axis (head stock). Application: Build up several inches (in length) of shaft diameter by welding. I am trying to offset my ArcStart point for each new weld bead. I have tried all of the offsets and combinations but nothing seems to work the way I need it to. I need to weld 360 degrees around shaft, then move torch in x direction for next pass without stopping rotation or breaking arc. I have done this using several ArcL points but this becomes way too complex if I ever need to change 1 point.

Any suggestions would be much appreciated,

Adam

2

Why not use the Offs instruction?

[See the RAPID Reference manual](http://developercenter.robotstudio.com/Index.aspx?DevCenter=DevCenterManualStore&OpenDocument&Url=../RapidIFDTechRefManual/doc353.html&OptTitle=RAPID Instructions, Functions and Data types - Technical reference manual)

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](http://developercenter.robotstudio.com/Index.aspx?DevCenter=DevCenterManualStore&OpenDocument&Url=../RapidIFDTechRefManual/doc353.html&OptTitle=RAPID Instructions, Functions and Data types - Technical reference manual)

3

Hi Mr Henrik Berlin

For Conveyor Tracking Application, sometimes we need to adjust Rx, Ry and Rz. (R = Reorientation) and not just adjust offset x, y and z.

Is “Rel Tool” the only solution for this case?

If we look at Pickmaster-3 RAPID, It use Rel Tool on Pick and Place (tracking).

Thanks