How I can rotate 360 degrees continously

  • raycor
  • Closed
  • Thread is marked as Resolved.
    • #1

    I have a problem with one robot, it is a R2000iB 210F, and I have 8 axis, this 8th axis is a turn table, where I have 4 positions, 0, 90,, 180 and 270 degrees, but I need to go from 270 degrees to 0 degrees, but the robot returns from 270 to 0passing to all the 269-1 degrees instead of jumping from 270 to 0, how I can do this? This turn tabke supose to turn 360without problems allways to one direction, so finally I hav e the limit axis set to 36000 degrees.

    Cause if I from 180 degrees to -90 degrees, the robot moves also all the way back from 89..88..-0.. -45..-90 degrees, but I need to go in one way only

    Any idea how I can solve it?

    • #2

    ok, dont laugh but i would try 355,0,5 85,90,95 175,180,185 ......... 355,360,5

    Basically going to the 5s and then to the zero you are "telling" the robot the direction of the next motion

    • #3

    Ok I can try that... but, how I can rotate again the same degrees the next turn, without going to axis limit, or how I can rotate the exact 90 degrees that I need just clockwise infinite?

    • #4

    I dont think you can rotate forever, at one point you will hit the max pulse. Eventually you have to go back to the origin.

    Why dont you start with the most negative value instead of zero

    • #5

    You could make an incremental move, 45*... Then after so many indexes the system can re-master the aux axis... Or you could buy the continuous turn option...

    Dr C... what say you?

    • #6

    How I can re master the external axis in automatic way? Cause I was thinking that, first to take the 270 degrees position as -90 and then try to master that way as -90 and when I want to go to 0 is going to go the way I want, finally my position reference is going to send the output signal that I need because allways is going to be in my all 4 positions 0, 90, 180 and 360.

    But finally how I can re master the axis in automatic?

    • #7

    As I cant give you exact code... This will give you what you need to make it happen :zwink:

    WAIT $MOR_GRP[2].$FILTER_EMPT=1 AND $MOR_GRP[2].$CARTFLTREMP=1 ;
    $DMR_GRP[2].$MASTER_COUN[1]=0 ;
    $MCR_GRP[2].$CALIBRATE=1 ;
    WAIT $MCR_GRP[2].$CALIBRATE=0 ;

    This is assuming you have the axis setup on its own group... if it is an integrated axis on group 1 you will need to single out this axis... Have fun...

    • #8

    The company bought the option of continous turn, but... still not working! Lol, I was thinking about the last answer, to do something like that but instead of reseting the value to 0 I was thinking when I am at 270, set it to -90 so when I call the macro of going to 0, the robot just can jump from -90 to 0 instead of rotating from 270 to 0... I am going to try to do it and lets see what happen

    • #9

    Continuous turn should work for you. Check the manual.
    Atticabob's program works. But you want make sure you run it at 0, +-360n degrees. Otherwise, you will lose your zero point. If you do not care, it does not matter.

    • #10

    Buenos días, necesito como vi en los comentarios que ejecutan un programa de giro de la mesa por ejemplo empezando de 0 a 360 grados, luego al finalizar hacer que la mesa tome posición de 0 en ese lugar sin realizar el movimiento retrocediendo. no cuento con el programa de giro continuo.

    gracias.

    • #11

    Please start a new thread. The last post is 7 years old

  • HawkME

    Closed the thread.

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