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7 PROGRAMMING A ROBOT WITH IRC
In addition, the target orientation of the tool and the target positions of the external axes can be
specified. These are linearly interpolated over the circular path.
The positions can be defined as constants via two position variables. In this case, the target orienta-
tion and the external axes must be specified in the variable for position 2 (target position).
Programming a curve path by Teach-In
1. Move the robot to the start position of the curve and add a linear instruction.
2. Move the robot to any position on the curve, e.g. half way. Add the circle instruc-
tion.
3. Move the robot to the end of the curve and click the "Set current position" button
in the "Position 2" line.
4. Optional: click the "Set Current Ori + Ext" button if the tool orientation or external
axes change during the curve path.
Programming a circular motion by calculating the circle points
For simple circular motions aligned with the axes of the coordinate system, it is rec-
ommended to calculate the coordinates of the center of the circle to calculate the start,
auxiliary and target positions and add or subtract the radius along the Cartesian axes.
7.3.7 Set Velocity
The instruction "Set Velocity" instructs an external axis to move at a constant velocity, for example for
a conveyor belt. The movement stops only when a movement of 0 units/s is assigned or the program
is stopped. This function only affects external axes configured for velocity mode.
7.4 Gripper and Digital In-/Outputs
7.4.1 Digital Inputs
Digital inputs and global signals are available as reserved words in conditional statements (see section
7.5.1) For global signals these are GSig1, GSig2, etc. For digital inputs Din1, Din2, etc.. Depending on
the condition, they are evaluated as "true" or "false".
7.4.2 Digital Outputs
The Digital Output command is used to set digital outputs and global signals.
Under "Channel Type" it is specified whether a digital output or a global signal is to be set. Under
"Channel ID" the channel of the digital output or the global signal is specified, under "State" the
desired state after execution of the command is specified. The command is accessible in the program
editor under "Action"
→
"Digital output".
7.4.3 Opening/Closing the Gripper
The Gripper command allows controlling the robot’s gripper. It is accessible in the program editor
through the menu item "Action"
→
"Gripper".
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