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Spiral Move

This program example consists of 10 half circles (CircleMove).

The robot starts up and away from the starting of the spiral (waypoint_100) and then move down to starting position (waypoint_1). Notice a CircleMove must always have a starting point which in this case is waypoint_1. The CircleMove itself represents the via point and the end point of the CircleMove.
In this example the transition from one circle to next circle is between the via point and end point of the second half circle e.g. at the transition between waypoint_4 to waypoint_5.

universal-robots-zacobria-spiral-move-concept
universal-robots-zacobria-spiral-move-concept

Polyscope Program.

universal-robots-zacobria-spiral-move-program-4
universal-robots-zacobria-spiral-move-program-4

Remarks to the program.

universal-robots-zacobria-spiral-move-program-1
universal-robots-zacobria-spiral-move-program-1
universal-robots-zacobria-spiral-move-program-2
universal-robots-zacobria-spiral-move-program-2
universal-robots-zacobria-spiral-move-program-3
universal-robots-zacobria-spiral-move-program-3

Notice the Blend Radius setting for the overall MoveP property – and the individual Waypoint for the end point of the half circle.

(The via waypoint does not have a Blend property). (Minimum blend radius is 1 mm).

 

Result – drawn with a pen mounted on a UR5 robot.

universal-robots-zacobria-spiral-move-40mm
universal-robots-zacobria-spiral-move-40mm

Disclaimer: While the Zacobria Pte. Ltd. believes that information and guidance provided is correct, parties must rely upon their skill and judgement when making use of them. Zacobria Pte. Ltd. assumes no liability for loss or damage caused by error or omission, whether such an error or omission is the result of negligence or any other cause. Where reference is made to legislation it is not to be considered as legal advice. Any and all such liability is disclaimed.

If you need specific advice (for example, medical, legal, financial or risk management), please seek a professional who is licensed or knowledgeable in that area.

Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.

Also check out the CB3 forum



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14 comments

  1. Hi everyone,
    What should we do if we want to do the Spiral movement in 3D space? One of my solutions is using CAD file and translate it for the UR5. But I am not sure that how can I do it?

    1. Hi Haniehes

      Thanks for the question.

      I have not seen methods to import CAD files. Maybe it can be considered to create waypoints as shown in the example and extend to 3D space.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



    1. Hi Miljan

      Thanks for the question.

      Yes by using the Blend it is possible to do continuous moves.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



  2. Hi

    I what to reach 1200mm / sec speed with movep but I not no what is the great value for acceleration. I can not reache 700mm /sec speed with no error.

    1. Hi Sdow

      Thanks for the question.

      That seems beyond the robots specifications and might also require additional safety measures. Possible speed and acceleration are also related to the pose of the robot and the payload.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



    1. Hi Daniel

      Thanks for the question.

      Maybe consider to see the informations at this link

      https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ur3-screw-driving-with-the-tool-flange-15371/

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



      1. Thanks! I’ve tried the code but the robot go in protection mode after reach 360° on the last axis.
        How to do an infinite rotation?

        1. Hi Daniel

          The infinite rotation can be acheived on a UR3.

          If more than 360 degree is needed on a UR10 then an external screw driver can be considered like shown in the example shown in the video at this link below.

          https://www.youtube.com/watch?v=yBBo6NvYfhM

          Author:
          By Zacobria Lars Skovsgaard
          Accredited Universal Robots support Centre and Forum.

          Also check out the CB3 forum



  3. Hi

    I would like to move linear robot in direction X and stop when proximity sensor is detected . I used loop but when sensor detect obstacle the robot stop suddenly and i got error the robot stop suddenly .

    How to do this correctly .

    thanks

    1. Hi sdow

      Thanks for the question.

      Maybe the speed is too high – so the deceleration is too step causing a stop time too small which result the inertia to make the error.

      In motion the deceleration has to be taken into account because a moving object can not go from a certain speed to 0 speed in 0 time.

      Depending on the accuracy of the detection to the stop then different approach can be considered.

      1. Maybe consider to use a proximity sensor that detect a little distance before the actual stop and the adjust the position of the senor so the stop occur at the desired location.

      2. Or maybe consider to move more slowly towards and near the proximity sensor so the deceleration does be so sudden.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum


    1. Hi Ford

      Thanks for the question.

      It was used for blasting moves.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum


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