To weld a circle by just teaching a center point

Robot Controller
1

Hi All,

Is there anyway to program the robot to only need to teach the center point and just define the diameter/radius of the circle that we wish to have?

As I have noticed from Move C command that we need to teach at least 4 points to get a full circle.

Thank you very much!

2

Hi

You could do your own circle instruction like the following:

MODULE CIRCLE
CONST robtarget p10:=[[1000,300,800],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
PERS tooldata tGun:=[TRUE,[[-200,0,300],[1,0,0,0]],[1,[0,0,0.1],[1,0,0,0],1,1,1]];

PROC main()
! call circle
rCircle p10,v200,z5,tGun,75;
ENDPROC

PROC rCircle(
robtarget Center,
speeddata Speed,
zonedata Zone,
PERS tooldata tool
PERS wobjdata WObj,
num nRadius)

! circle
MoveJ Offs(Center,nRadius,0,20),Speed,Zone,toolWObj?WObj;
MoveL Offs(Center,nRadius,0,0),Speed,fine,toolWObj?WObj;
MoveC Offs(Center,0,nRadius,0),Offs(Center,-nRadius,0,0),Speed,Zone,toolWObj?WObj;
MoveC Offs(Center,0,-nRadius,0),Offs(Center,nRadius,0,0),Speed,fine,toolWObj?WObj;
MoveL Offs(Center,nRadius,0,20),Speed,Zone,toolWObj?WObj;
ENDPROC
ENDMODULE

3

Hi Marcel,

Thanks a lot! ^^ Will try this program out. =D