Re: [CAD_CAM_EDM_DRO] Re: Training a paint arm robot

On my welding robot, you jog to the stop points. Linear movements are
programmed with only the end stop point Circular movements are programmed
with two stop points along the circumference of the circle. The controller
keeps track of the encoder counts and you just enter in the velocity
required. It must be quite intense calculations as the controller has 3
computers with one dedicated to calculating the interpolation of the axes.

----- Original Message -----
From: "wsampl00" <WSAMPLESIS@...>
To: <CAD_CAM_EDM_DRO@yahoogroups.com>
Sent: Tuesday, May 20, 2003 6:47 PM
Subject: [CAD_CAM_EDM_DRO] Re: Training a paint arm robot


> Thanks for everyone's thoughts on this. I don't think that a jog
> from point A to point B would work. I need smooth fluid motion of
> the arm. There are six axis and at least two switches that need to
> be run by the system. The actual application is a paint robot.
>
> I was thinking of using encoders to generate data file that can then
> be converted to step and direction code. By recording the output and
> time of the pulses from the encoders, one should be able to control
> ramp and velocity without having to program it. Of course you would
> have to move the arm no faster then the motors could move it.
>
> I was thinking the text file to run the arm might look something
> like the following:
>
> OUTPUT TIME/
> 12345678 STEP
>
> 01010110 1
> 01011001 2
> 11110011 3
> 11110001 4
> 11001100 5
> 11101100 6
> 11100100 7
>
> I know that text file will end up being huge, but fast computers are
> fairly cheap now. The text file could also be broken in to multiple
> files if needed.
>
> Bill
>
>
>
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