Sensor-based positioning
The "POSITIONING" instruction is available to initiate sensor-based positioning after a touchprobe event has been triggered. In the RemainingDistance parameter, you set the distance to be covered in MeasuringDirection.
Observe the following to use this instruction:
- The "POSITIONING" instruction is activated for a specified range (remaining travel range). To mark this area, it must be restricted with the instruction "CONTINUE AFTER POSITIONING EVENT".
- The remaining travel range must be completely known to calculate the remaining travel position. If the end of the range is not yet known when the remaining travel movement is triggered, i.e. the program has not yet been interpreted up to the instruction and the program pointer has therefore not yet arrived at the instruction (e.g. due to a "WAIT" instruction), a fault is output.
- The "CONTINUE AFTER POSITIONING EVENT" instruction must be executed after registering the touchprobe event. Otherwise a fault is output.
- "POSITIONING" is always executed at the first trigger of the event ("Single" mode). If "Multiple" mode is set in conjunction with "POSITIONING", the touchprobe function is nevertheless deactivated after starting sensor-based positioning. A warning informs the user about this.
- The start point of sensor-based positioning is the measuring point projected onto the path.
- The set remaining distance (RemainingDistance) must be positive.
The remaining distance is calculated while the event is executed. The RemainingDistance specifies the offset to be covered in MeasuringDirection. The path itself, including its direction, is not changed by the MeasuringDirection, i.e. the robot continues along the programmed path.
Path point | Description |
|---|---|
P14-P17 | Path points along the motion path |
Reg TP event | Instruction for activating the touchprobe function |
CONTINUE AFTER POSITIONING EVENT | Mark at which point the program should be continued after the "POSITIONING" instruction |
TP event | Triggering the sensor or switching the BOOLEAN variable |
PTP,increments | Actual position or touchprobe position of the inverters |
Pmeasured | Measuring point projected onto the path |
PContinue | End point of sensor-based positioning |
Remaining distance | Length of the remaining distance [mm] in MeasuringDirection |
The remaining distance results along the path segments of the remaining travel range (including their orientation) until the RemainingDistance is reached. The rotational degrees of freedom are interpolated true to path until the end of the remaining distance is reached. Sensor-based positioning is also possible across several segments. The direction of the segments must deviate less than 90° from the MeasuringDirection so that there is a motion component present in MeasuringDirection. When sensor-based positioning is performed, all path segments between the end of the remaining distance and the "CONTINUE AFTER POSITIONING EVENT" instruction are discarded.
The motion parameters set in the program for the current path segment are used for sensor-based positioning. If it is not possible to maintain the desired end point with these parameters (e.g. due to excessive speed when starting the remaining distance or a remaining distance that is too short), the motion parameters are increased up to maximally the emergency stop ramps. A warning informs the user about this. If it is not possible to maintain the set remaining distance despite emergency stop ramps, a fault is output.
Path point | Description |
|---|---|
P14-P17 | Path points along the motion path |
Reg TP event | Instruction for activating the touchprobe function |
CONTINUE AFTER POSITIONING EVENT | Mark at which point the program should be continued after the "POSITIONING" instruction |
TP event | Triggering the sensor or switching the BOOLEAN variable |
PTP,increments | Actual position or touchprobe position of the inverters |
Pmeasured | Measuring point projected onto the path |
PContinue | End point of sensor-based positioning |
RemainingDistance | Length of the remaining distance [mm] in MeasuringDirection |
If the set remaining distance is longer than the provided segments up to the "CONTINUE" mark, the last path segment is extended. In this case, the restriction applies that this segment has no rotation so the rotational degrees of freedom in the segment are not changed, otherwise the segment is not extended and a fault is output.
Path point | Description |
|---|---|
P17-P18 | Path points along the motion path |
CONTINUE AFTER POSITIONING EVENT | Mark at which point the program should be continued after the POSITIONING instruction |
PContinue | End point of sensor-based positioning |
After a "POSITIONING" instruction has been executed, further path segments may follow. However, these path segments are not executed until positioning is completed. Next, the position after the "CONTINUE AFTER POSITIONING EVENT" instruction is approached.
