6 Programming
6.7.7. Tool orientation at circular movements
3HAC021272-001 Revision: H86
© Copyright 2004-2008 ABB. All rights reserved.
6.7.7. Tool orientation at circular movements
Coordinated circular move instructions
There is a risk for incorrect tool orientation if two coordinated task programs both perform
synchronized circular move instructions. If one robot holds a work object that another robot
is working on, the circle interpolation affects both robots. The circle point should be reached
at the same time for both circle paths to avoid incorrect orientation of the tool.
Example
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If p12 would be in the beginning of its circular path (closer to p11 than p13) and p22 would
be in the end of its circular path (closer to p23 than p21) then the tool orientation could
become wrong. If p12 and p22 are in the same relative position on the path (percentage of the
path length) the tool orientation will remain correct.
TIP!
By modifying the position for both robots circle point at the same time, you make sure the
tool orientation stays correct. This means that, in the example, you should step through the
program and then modify p12 and p22 at the same time.
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