TOOL and Sequential Motion

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TOOL and Sequential Motion

Postby rotekopler » Tue May 10, 2016 5:05 am

Hi,

I've noticed that if I'm defying a tool while the robot perform a movement, the robot is not able to perform a continues movement.
For example:

TOOL tool.tip1
MOVE loc.a
MOVE loc.b

TOOL tool.tip2 ----> this command makes the robot stop and then to continue his movement to loc.c.

MOVE loc.c
MOVE loc.e

Is there a way to avoid that? or why the robot stop?
This stop Increases the cycle time of the robot's workwhich is not good
rotekopler
 
Posts: 27
Joined: Sun Mar 01, 2015 11:56 pm

Re: TOOL and Sequential Motion

Postby JoBerghof » Wed May 11, 2016 12:30 am

the robot stops because the program instruction Tool causes a BREAK instruction

see here:
http://www1.adept.com/main/KE/DATA/V%20 ... fig_colors
JoBerghof
 
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Joined: Tue Apr 19, 2016 3:54 am

Re: TOOL and Sequential Motion

Postby Guenter Grass » Fri May 13, 2016 2:52 am

Hi,

instead of using the TOOL instruction (which includes a BREAK) you can add the INVERSE of the TOOL to the locations you move to.

----------------------- your example using TOOL ----------------------------
TOOL tool.tip1
MOVE loc.a
MOVE loc.b

TOOL tool.tip2 ----> this command makes the robot stop and then to continue his movement to loc.c.

MOVE loc.c
MOVE loc.e




----------------------- using INVERSE(tool) ----------------------
TOOL NULL

MOVE loc.a:INVERSE(tool.tip.1)
MOVE loc.b:INVERSE(tool.tip.1)

MOVE loc.c:INVERSE(tool.tip.2)
MOVE loc.e:INVERSE(tool.tip.2)



Best Regards
Günter
Guenter Grass
 
Posts: 189
Joined: Thu Oct 16, 2008 4:34 am

Re: TOOL and Sequential Motion

Postby rotekopler » Mon May 16, 2016 10:51 pm

Hi,

Thanks for the answer.

but i have another quastion, do i have to write "TOOL NULL"? and does it cause break?

for example is the next code is ok:

TOOL tool.tip1

MOVE loc.a

MOVE loc.b:INVERSE(tool.tip3)

MOVE loc.a -------------------------> is this movment will be with tool.tip1?

or do i have to write it like that:

TOOL tool.tip1
MOVE loc.a

TOOL NULL ------------------------> is "TOOL NULL" - cause a break?
MOVE loc.b:INVERSE(tool.tip3)

TOOL tool.tip1
MOVE loc.a
rotekopler
 
Posts: 27
Joined: Sun Mar 01, 2015 11:56 pm

Re: TOOL and Sequential Motion

Postby Guenter Grass » Tue May 17, 2016 2:20 am

Hi,

if want to move to all locations without stopping the robot and change the tool in between use INVERSE.

Best to download the picture. They were rotated after insertion.

The first picture shows the usage of TOOL or INVERSE.
TOOL versus INVERSE.jpg
TOOL versus INVERSE
TOOL versus INVERSE.jpg (1.65 MiB) Viewed 9131 times


This one shows TOOL and INVERSE.
TOOL and INVERSE.jpg
TOOL and INVERSE
TOOL and INVERSE.jpg (1.29 MiB) Viewed 9131 times



Best Regards
Günter
Guenter Grass
 
Posts: 189
Joined: Thu Oct 16, 2008 4:34 am

Re: TOOL and Sequential Motion

Postby rotekopler » Tue May 17, 2016 2:55 am

Thanks!
rotekopler
 
Posts: 27
Joined: Sun Mar 01, 2015 11:56 pm


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