draw a circle at speed

Adept Cobra i600 and i800 SCARA robots

draw a circle at speed

Postby mjsobrep » Mon Jun 16, 2014 2:51 pm

I am trying to draw a circle off the tip off a tool on a Cobra i600. I have three ways that I have looked at doing this and none of them seem to work correctly. Any ideas would be appreciated.

Method 1:
Code: Select all
        FOR angle = 0 TO 359
            MOVE loc.center:TRANS(r*COS(angle),r*SIN(angle),,,,angle)
        END

Problem here is that all of the separate moves really slow down the robot and I don't have confidence that it is drawing a perfect circle

Method 2:
Code: Select all
        TOOL TRANS(75,,20)

        MOVE loc.center:TRANS(-5)
        BREAK

        MOVE loc.center
        BREAK

        MOVES loc.center:TRANS(,,,,,360)

This doesn't work, I would need a way to force it to actually go around, but it just takes this to mean go where you are

Method 3:
Code: Select all
        TOOL TRANS(75,,20)

        MOVE loc.center:TRANS(-5)
        BREAK

        MOVE loc.center
        BREAK

        MOVES loc.center:TRANS(,,,,,90)
        MOVES loc.center:TRANS(,,,,,180)
        MOVES loc.center:TRANS(,,,,,270)
        MOVES loc.center:TRANS(,,,,,320)

this works, but it seems there must be a better way.

Thanks,
Michael
mjsobrep
 
Posts: 3
Joined: Wed Apr 16, 2014 12:25 pm

Re: draw a circle at speed

Postby JoeW » Tue Jun 17, 2014 9:08 am

Hi Michael,

Try this:

radius = 40
x.center = 400
y.center = 0

FOR angle = 10 TO 360 STEP 10
x = radius*COS(angle)+x.center
y = radius*SIN(angle)+y.center
MOVE TRANS(x,y,300,0,180,0)

Let me know if you have any other questions.

Joe
Attachments
Circle.V2
(227 Bytes) Downloaded 1109 times
JoeW
 

Re: draw a circle at speed

Postby mjsobrep » Sat Jun 21, 2014 5:52 am

Thanks for the response Joe. That does definitely work. I am just surprised that there is not a more elegant way to do it. Something like the drive command but for Cartesian moves.
mjsobrep
 
Posts: 3
Joined: Wed Apr 16, 2014 12:25 pm

Re: draw a circle at speed

Postby KevinS » Mon Jun 23, 2014 8:32 am

mjsobrep wrote:I am just surprised that there is not a more elegant way to do it. Something like the drive command but for Cartesian moves.

The more elegant solution does exist but only for the newer smart-controller EX. Take a look at the language reference guide for eV+ here, specifically the MOVEC instruction

Also, keep an eye out for updates to the current product lines as we add these new features across all systems in the future.
KevinS
 

Re: draw a circle at speed

Postby mjsobrep » Mon Jun 23, 2014 8:47 am

That's pretty slick.
mjsobrep
 
Posts: 3
Joined: Wed Apr 16, 2014 12:25 pm

Re: draw a circle at speed

Postby Romain » Thu Jan 22, 2015 3:05 am

HI !

It may be a little late, but here's another way to draw a circle.

Code: Select all
        rayon = 125

        WHILE TRUE DO
            FOR degre = 1 TO 360 STEP 5
                MOVE centre:RZ(degre):TRANS(rayon):RZ(-degre)
            END
        END


You have just to learn the "centre" position. I hope it will serve to someone

best regards
Romain
 
Posts: 16
Joined: Mon Sep 22, 2014 1:00 am


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