Robot solar tracker

Robot Controller
1

Hello yall

I am doing a project for fun, and need some assistance. I would like to make our robot into a solar tracker (but indoors) for fun. the PLC program is giving me azimuth ( direction of the sun in degrees) and altitude ( angle of elevation) I want the tcp of my tool0 to fallow a arc around the base origin, and be changed by the altitude angle. and the azimuth will rotate the wobj to face the sun. does any one know how I can change a robtarget by a specified angle and keep the tcp on a consistent radius away from the base origin?

thanks

2

Hi,

You could use trigonometric functions in Rapid to calculate the coordinates on x and y axis, and use MoveC instruction to move tcp along the circular path.