This blog discusses using AMP System Variables to automatically define up to 3 translational auxiliary axes values.  Previous blogs have discussed the process of creating standard robot weld paths. So the focus here will be adding auxiliary axes programming to your weld path/Task generation Primitive.

AMP auxiliary axes computation is based on defining the desired robot posture at each point.  So to define axes values, we provide 3 concepts to represent the 3D robot posture. 

Elevation:

A vertical measurement measured (parallel to z-axis) from the base of the robot to the TCP (at each tag point).   Elevation definition is used with Stretch (defined below) when you have a 3 axes setup (typically overhead gantry).  So it defines the vertical placement of the robot base from each tag point.

Azimuth:

Azimuth is basically the swing value of axes one (Azimuth defines the rotation of robot base about its’ z-axis).  Put another way, it will result in an X offset of the base of the robot with respect to the target TCP (at each tag point).  When defining auxiliary axes for a single track axis, this is the only Primitive system variable necessary. 

Stretch:

Stretch is a horizontal measurement (parallel to x-y plane) between the robot base and TCP (at each tag point).  Only useful when you have a Y track axis that can move the robot base closer or further from the work piece.  So you can think of it as the horizontal placement of the robot base in proximity to each tag point. 

And example Primitive (BasicAuxAxes.zip)  file is attached below.

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