RS https://wp.heinar.pri.ee Tue, 09 Jun 2026 07:57:14 +0000 et hourly 1 https://wordpress.org/?v=7.0.1 Tööriist ‘tool_01’ https://wp.heinar.pri.ee/t1/ Mon, 08 Jun 2026 05:30:06 +0000 https://wp.heinar.pri.ee/?p=735 Koonusekujuline tööriist pikkusega 150mm luuakse järgneva skripti abil kasutades CAD-i lehel https://ochafik.com/openscad2 .

//ochafik.com/openscad2
//T1 koonus 15o mm
union(){
    cylinder(h=15, r1=50, r2=50, center=false);
    translate([0, 0, 15])
    cylinder(h=30, r1=25, r2=25, center=false);
    translate([0, 0, 45])
    cylinder(h=105, r1=10, r2=1, center=false);
    }

OpenScad – i kasutamise näide .

Nupu ‘Render’ abil luuakse ja laaditakse alla tööriista mudel ‘tool_01.stl’. Kui see ei õnnestu, siis võib tööriista mudeli alla laadida aadressilt
wp.heinar.pri.ee/hv/img/05/tool_01.stl

Tööriista mudel ‘tool_01.stl’ paigutatakse sobivasse kataloogi .

Avatakse RobotStudio tab ‘Modeling’, valitakse ‘ Import Geometry ‘ valitakse mudel ‘tool_01.stl’, valitakse ‘Open’.
Tööriist ‘tool_01’ ilmub vasakpoolse riba tabile ‘Layout’ ja tööriista kontuur ilmub koordinaatide alguspunkti [0, 0, 0]. Tööriist liigutatakse setPosition abil punkti [500, 0, 200] . Liigutamine tehtud .
Tööriist ‘tool_01.stl’ ühendatakse robotiga järgneval viisil: hiirega lohistatakse objekt ‘tool_01’ objektile ‘IRB1600_6_145_03’ kollase noolega näidatud suunas. Resultaat. Nüüd määratakse tööriista lokaalne koordinaatide alguspunkt local origin ]]> Barrel https://wp.heinar.pri.ee/barrel/ Tue, 19 May 2026 18:25:48 +0000 https://wp.heinar.pri.ee/?p=519 ghgh bnnbbn

//ochafik.com/openscad2

module hoop(){
translate([0, 0, 450])
rotate([0, 90, 0]){
    color("#3333AA")
       rotate_extrude(angle = 180, convexity = 10)
          translate([250, 0, 0])
             circle(r = 4);

        color("lime")
            rotate([0, 0, 180])
                rotate_extrude(angle = 180, convexity = 10)
                    translate([250, 0, 0])
						circle(r = 4);
    }
}

module stave(){

	color("YellowGreen"){
		rotate([0, 90, 0])
		cylinder(800, 4, 4);
		}
    }

color("tan") {
    translate([1000, 0, 200]){
        sphere(20, $fn=50);
	translate([30, -30, 20])
	rotate([90, 0, 0])
	linear_extrude(2)
		text("P_10", size = 10);}

    translate([1000, 250, 450]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_20", size = 10);
		sphere(20, $fn=50);
		}

    translate([1000, 0, 700]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_30", size = 10);
        sphere(20, $fn=50);}

    translate([1000, -250, 450]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_40", size = 10);
        sphere(20, $fn=50);}
    }

color("green") {
    translate([1500, 0, 200])
        sphere(20, $fn=50);

    translate([1500, 250, 450])
        sphere(20, $fn=50);

    translate([1500, 0, 700])
        sphere(20, $fn=50);

    translate([1500, -250, 450])
        sphere(20, $fn=50);
    }

color("cyan") {
    translate([700, 0, 200])
        sphere(20, $fn=50);

    translate([700, 250, 450])
        sphere(20, $fn=50);

    translate([700, 0, 700])
        sphere(20, $fn=50);

    translate([700, -250, 450])
        sphere(20, $fn=50);
    }


translate([700, 0, 0])
	hoop();

translate([1000, 0, 0])
	hoop();

translate([1500, 0, 0])
	hoop();

translate([0, 250, 450])
	translate([700, 0, 0])
		stave();

translate([0, -250, 450])
	translate([700, 0, 0])
		stave();

translate([0, 0, 200])
	translate([700, 0, 0])
		stave();

translate([0, 0, 700])
	translate([700, 0, 0])
		stave();
]]> Pliiats https://wp.heinar.pri.ee/pliiats/ Mon, 03 Nov 2025 14:30:35 +0000 http://wp.heinar.pri.ee/?p=432 
//ochafik.com/openscad2
//pen2 150
union(){
    cylinder(h=15, r1=50, r2=50, center=false);
    translate([0, 0, 15])
    cylinder(h=30, r1=25, r2=25, center=false);
    translate([0, 0, 45])
    cylinder(h=105, r1=10, r2=1, center=false);
    }

//ochafik.com/openscad2
//pen1 90

union(){
    cylinder(h=15, r1=20, r2=20, center=false);
    translate([0, 0, 15])
    cylinder(h=75, r1=10, r2=1, center=false);
    }

//ochafik.com/openscad2
//circle

union(){
cylinder(h=15, r1=20, r2=10, center=false);
translate([0, 0, 15])
    cylinder(h=35, r1=2, r2=2, center=false, $fn = 20);

translate([0, 0, 60])
rotate([0, 90, 0])    
rotate_extrude(convexity = 10)
translate([10, 0, 0])
circle(r = 2);
}

//ochafik.com/openscad2
//cross
//200x100x300 distants 600 diagonaalid

union(){
translate([0, 0, 50]){
cylinder(h=4, r1=0.5, r2=0.5, center=true);
rotate([90, 0, 0])
cylinder(h=4, r1=0.5, r2=0.5, center=true);
}
cylinder(h=10, r1=20, r2=10, center=false);
translate([0, 0, 10])
    cylinder(h=30, r1=2, r2=2, center=false, $fn = 20);

translate([0, 0, 50])
rotate([0, 90, 0])    
rotate_extrude(convexity = 10)
translate([10, 0, 0])
circle(r = 2);
}

//ochafik.com/openscad2
//cell

module cell(
    r,  //cylinder radius
    dx, //cell length
    dy, //cell width
    dz  //cell height
    ){  
    translate([dx/2, -dy/2, 0]){
        translate([0, 0, dz])
        
        translate([0, 0, dz])
        color("green")floor(r, dx, dy, dz);
        color("blue")floor(r, dx, dy, dz);
        translate([-dx/2, 0, 0])
        color("cyan")cylinder(h=dz, r1=r, r2=r, 
            center=false, $fn = 20);
        translate([dx/2, 0, 0])
        color("magenta")cylinder(h=dz, r1=r, r2=r, 
            center=false, $fn = 20);
        translate([dx/2, dy, 0])
        color("fuchsia")cylinder(h=dz, r1=r, r2=r, 
            center=false, $fn = 20);
        translate([-dx/2, dy, 0])
        color("royalblue")cylinder(h=dz, r1=r, r2=r, 
            center=false, $fn = 20);
        }
    }


//ochafik.com/openscad2
//array of cells

cross();
rotate([0, 0,-15])
rotate([0, 0,-15])
rotate([0, 0,-15])
translate([600, 0, 0])cell(1, 200, 150, 50);
rotate([0, 0,-15])
translate([600, 0, 0])cell(1, 200, 150, 50);
rotate([0, 0, 15])
translate([600, 0, 0])cell(1, 200, 150, 50);
//rotate([90, 0, 0])rotate([0, 90, 0])cross();
rotate([0, 0, 15])
rotate([0, 0, 15])
rotate([0, 0, 15])
translate([600, 0, 0])
cell(1, 200, 150, 50);

//ochafik.com/openscad2
//axes

color("green"){
rotate([00, 90, 00])
cylinder(h=600, r1=2, r2=2, center=false);
rotate([90, 00, 00])
cylinder(h=600, r1=2, r2=2, center=true);
}

/

//https://stackoverflow.com/questions/50869080/openscad-how-to-draw-a-cylinder-from-vector-to-vector

module hoop(R){
	color("#3333AA")
	rotate_extrude(angle = 90, convexity = 40)
	translate([R, 0, 0])
	circle(r = 2);
	}

module beam(
x1, y1, z1, x2, y2, z2, r1, r2
){
	dx = x2 - x1;
	dy = y2 - y1;
	dz = z2 - z1;

	l		= sqrt(dx * dx + dy * dy + dz * dz);
	lPrXY	= sqrt(dx * dx + dy * dy);

	ay = asin(dy/lPrXY);
	az = asin(dz/l);

	rotate([0,  0, ay])
	rotate([0, -az, 0])
	rotate([0, 90, 0])
		translate([0, 0, l/2])
			color("cyan")cylinder(l, r1, r2, center = true, $fn=50);

	rotate([0,  0, ay])
	rotate([0, 90, 0])
		translate([0, 0, lPrXY/2])
			color("tan")cylinder(lPrXY, r1, r2, center = true, $fn=50);

	hoop(lPrXY);
	translate([0, 0, dz])
	hoop(lPrXY);

	translate([lPrXY, 0, 0])
	translate([0, 0, dz/2])
		color("#00AA00")cylinder(dz, r1, r2, center = true, $fn=50);

	translate([x2, y2, z2])
	sphere(8, $fn=50);
	translate([x1, y1, z1])
	sphere(6, $fn=50);
	color("cyan")translate([x2, y2, 0])
		sphere(6, $fn=50);
	}

	{
	beam(0, 0, 0, 200, 300, 250, 4, 4);
	}

/


module c_1(ay, az, l, r1, r2, c){
	rotate([0, 0, az])
		rotate([0, ay, 0])
			rotate([0, 90, 0])
				translate([0, 0, l / 2])
					color(c)cylinder(l, r1, r2, center = true, $fn = 50);
}

module beam(x1, y1, z1, x2, y2, z2, r1, r2, c){
	translate([x1, y1, z1]) {
		dx = x2 - x1;
		dy = y2 - y1;
		dz = z2 - z1;

		if ((abs(dx) < 1e-6)&&(abs(dy) < 1e-6)) {	// ||	Z
			if (dz > 0) {
				translate([0, 0, dz / 2])
				color(c)cylinder(dz, r1, r2, center = true, $fn = 50);
				}
			else if (dz < 0){
				translate([0, 0, dz / 2])
				color(c)cylinder(-dz, r2, r1, center = true, $fn = 50);
				}
			}
		else if ((abs(dy) < 1e-6)&&(abs(dz) < 1e-6)){	// ||	X
			if (dx > 0){
				rotate([0, 90, 0])
				translate([0, 0, dx / 2])
					color(c)cylinder(dx, r1, r2, center = true, $fn = 50);
				}
			else if (dx < 0){
				rotate([0, 90, 0])
					translate([0, 0, dx / 2])
						color(c)cylinder(-dx, r2, r1, center = true, $fn = 50);
				}

			}
		else if ((abs(dx) < 1e-6)&&(abs(dz) < 1e-6)){	// ||	Y
			if (dy > 0){
				rotate([-90, 0, 0])
				translate([0, 0, dy / 2])
					color(c)cylinder(dy, r1, r2, center = true, $fn = 50);
				}
			else if (dy < 0){
				rotate([-90, 0, 0])
					translate([0, 0, dy / 2])
						color(c)cylinder(-dy, r2, r1, center = true, $fn = 50);
				}
			}
		else {
			l		= sqrt(pow(dx, 2) + pow(dy, 2) + pow(dz, 2)	);
			lPrXY	= sqrt(pow(dx, 2) + pow(dy, 2)				);

//minus = look from end of the axis; clockwise

			az = acos(dx / lPrXY);    //if lPrXY == 0, then vertical
			ay = acos(lPrXY / l);
			if (dx > 0){
				if (dy >= 0) {
					if (dz > 0) {	//	dx>0	dy>0	dz>0 	//OK 1 1 1
						c_1(-ay, az, l, r1, r2, c);
					}
					else {			//	dx>0	dy>0	dz<0 	//OK 1 1-1
						c_1( ay, az, l, r1, r2, c);
					}
				}
				else if (dy < 0) {
					if (dz > 0) {	//	dx>0	dy<0	dz>0	//OK 1-1 1
						c_1(-ay, -az, l, r1, r2, c);
					}
					else {			//	dx>0	dy<0	dz<0	//OK 1-1-1
						c_1( ay, -az, l, r1, r2, c);
					}
				}
			}
			else {
				if (dy >= 0) {
					if (dz > 0) {	//	dx<0	dy>0	dz>0 	//OK-1 1 1
						c_1(-ay, az, l, r1, r2, c);
					}
					else {			//	dx<0	dy>0	dz<0 	//OK-1 1-1
						c_1( ay, az, l, r1, r2, c);
					}
				}
				else if (dy < 0) {
					if (dz > 0) {	//	dx<0	dy<0	dz>0	//OK-1-1 1
						c_1(-ay, -az, l, r1, r2, c);
						}
					else {			//	dx<0	dy<0	dz<0	//OK-1-1-1
						c_1( ay, -az, l, r1, r2, c);
					}
				}

			}
		}
}
	translate([x2, y2, z2])
		sphere(6, $fn=50);
	translate([x1, y1, z1])
		sphere(6, $fn=50);
}

{

/*
	beam(    0,    0,    0,  200,  200,  200, 1, 4, "#EABB94");//dx>0 dy>0 dz>0	// 1 1 1
	beam(    0,    0,    0, -200,  200,  200, 1, 4, "#EABB94");//dx<0 dy>0 dz>0	//-1 1 1

	beam(    0,    0,    0,  200,  200, -200, 1, 4, "#22EE22");//dx>0 dy>0 dz<0	// 1 1-1
	beam(    0,    0,    0, -200,  200, -200, 1, 4, "#22EE22");//dx<0 dy>0 dz<0	//-1 1-1

	beam(    0,    0,    0,  200, -200,  200, 1, 4, "#EA0094");//dx>0 dy<0 dz>0	// 1-1 1
	beam(    0,    0,    0,  200, -150,  200, 1, 4, "#EABB00");//dx>0 dy<0 dz>0	// 1-1 1
	beam(    0,    0,    0, -200, -200,  200, 1, 4, "#00BB94");//dx<0 dy<0 dz>0	//-1-1 1
	beam(    0,    0,    0, -200, -150,  200, 1, 4, "#EABB94");//dx<0 dy<0 dz>0	//-1-1 1


	beam(    0,    0,    0,  200, -200, -200, 1, 4, "#EABB94");//dx>0 dy<0 dz<0	// 1-1-1
	beam(    0,    0,    0,  200, -150, -200, 1, 4, "#EABB94");//dx>0 dy<0 dz<0	// 1-1-1
	beam(    0,    0,    0, -200, -200, -200, 1, 4, "#EABB94");//dx<0 dy<0 dz<0	//-1-1-1
	beam(    0,    0,    0, -200, -150, -200, 1, 4, "#EABB94");//dx<0 dy<0 dz<0	//-1-1-1
*/

	beam( 150,  200,  175,  150,  200, -175, 1, 4, "#EABB94");
	beam( 150,  200, -175,  150, -200, -175, 1, 4, "#EABB94");
	beam( 150, -200, -175, -150, -200, -175, 1, 4, "#EABB94");
	beam(-150, -200, -175, -150,  200, -175, 1, 4, "#EABB94");
	beam(-150,  200, -175,  150,  200, -175, 1, 4, "#EABB94");

	beam( 150,  200,  175,  150, -200,  175, 1, 4, "#EABB94");
	beam( 150, -200,  175, -150, -200,  175, 1, 4, "#EABB94");
	beam(-150, -200,  175, -150,  200,  175, 1, 4, "#EABB94");
	beam(-150,  200,  175,  150,  200,  175, 1, 4, "#EABB94");

	beam(-150, -200, -175,  150,  200,  175, 1, 4, "#EABB94");
	beam(-150, -200, -175, -150, -200,  175, 1, 4, "#EABB94");
	beam(-150, -200, -175, -150,  200,  175, 1, 4, "#EABB94");
	beam(-150, -200, -175,  150, -200,  175, 1, 4, "#EABB94");

	beam( 150,  200,  175,  150, -200, -175, 1, 4, "#EABB94");
	beam( 150,  200,  175, -150, -200, -175, 1, 4, "#22DD22");
	beam( 150,  200,  175, -150,  200, -175, 1, 4, "#22DD22");
	beam( 150,  200,  175, -150, -200,  175, 1, 4, "#22DD22");

	beam( 150, -200, -175,  150, -200,  175, 1, 4, "#22DD22");
	beam( 150, -200, -175, -150, -200,  175, 1, 4, "#22DD22");

	beam( 150, -200,  175,  150,  200, -175, 1, 4, "#22DD22");

	beam( 150, -200, -175, -150,  200,  175, 1, 4, "#22DD22");
	beam(-150,  200,  175,  150, -200, -175, 1, 4, "#2222DD");

}



//https://stackoverflow.com/questions/50869080/openscad-how-to-draw-a-cylinder-from-vector-to-vector


// Transpose of matrix A (swap rows and columns)
function transpose(A) = [for (j = [0:len(A[0])-1]) [for(i = [0:len(A)-1]) A[i][j]]];

//  Cylinder of radius r from P to Q
module cyl_between(P, Q, r){
    v = Q - P;    // vector from P to Q
    L = norm(v);  // height of the cylnder = dist(P, Q) 
    c = v / L;    // unit vector: direction from P to Q    
    is_c_vertical = ( 1 - abs(c * [0, 0, 1]) < 1e-6); //is c parallel to z axis?
    u = is_c_vertical ? [1, 0, 0] : cross([0, 0, 1], c); // normal to c and Z axis
    a = u / norm(u); // unit vector normal to c and the Z axis
    b = cross(c, a); // unit vector normal to a and b
    // [a, b, c] is an orthonormal basis, i.e. the rotation matrix; P is the translation
    MT = [a, b, c, P]; // the transformation matrix
    M = transpose(MT); // OpenSCAD wants vectors in columns, so we need to transpose
    multmatrix(M)
        cylinder(h=L, r=r, $fn=30);
}

cyl_between([100,100,100], [100,200,100], 4);

//  tool; length = 50
union(){
    cylinder(h=10, r1=20, r2=20, center=false);
    translate([0, 0, 10])
    cylinder(h=40, r1=0.5, r2=0.25, center=false);

    translate([0, 0, 51]){
    translate([0, 0, 5])
    linear_extrude(0.25)
    text("Z", size=2, font="Liberation Sans", halign="center", valign="center");
    cylinder(h=4, r1=0.25, r2=0.5, center=false);}

    translate([0, 0, 50])
    translate([1, 0, 0])
    rotate([0, 90, 0]){
        translate([0, 0, 5])
        linear_extrude(0.25)
    text("X", size=2, font="Liberation Sans", halign="center", valign="center");
    cylinder(h=3, r1=0.25, r2=0.5, center=false);}

    translate([0, 0, 50])
    rotate([0, 0, 90])
    translate([1, 0, 0])
    rotate([0, 90, 0]){
        translate([0, 0, 5])
        linear_extrude(0.25)
    text("Y", size=2, font="Liberation Sans", halign="center", valign="center");
    cylinder(h=3, r1=0.25, r2=0.5, center=false);}
    }

Operating manual – IRC5 with FlexPendant

Barrel

//ochafik.com/openscad2

module hoop(){
translate([0, 0, 450])
rotate([0, 90, 0]){
    color("#3333AA")
       rotate_extrude(angle = 180, convexity = 10)
          translate([250, 0, 0])
             circle(r = 4);

        color("lime")
            rotate([0, 0, 180])
                rotate_extrude(angle = 180, convexity = 10)
                    translate([250, 0, 0])
						circle(r = 4);
    }
}

module stave(){

	color("YellowGreen"){
		rotate([0, 90, 0])
		cylinder(800, 4, 4);
		}
    }

color("tan") {
    translate([1000, 0, 200]){
        sphere(20, $fn=50);
	translate([30, -30, 20])
	rotate([90, 0, 0])
	linear_extrude(2)
		text("P_10", size = 10);}

    translate([1000, 250, 450]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_20", size = 10);
		sphere(20, $fn=50);
		}

    translate([1000, 0, 700]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_30", size = 10);
        sphere(20, $fn=50);}

    translate([1000, -250, 450]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_40", size = 10);
        sphere(20, $fn=50);}
    }

color("green") {
    translate([1500, 0, 200])
        sphere(20, $fn=50);

    translate([1500, 250, 450])
        sphere(20, $fn=50);

    translate([1500, 0, 700])
        sphere(20, $fn=50);

    translate([1500, -250, 450])
        sphere(20, $fn=50);
    }

color("cyan") {
    translate([700, 0, 200])
        sphere(20, $fn=50);

    translate([700, 250, 450])
        sphere(20, $fn=50);

    translate([700, 0, 700])
        sphere(20, $fn=50);

    translate([700, -250, 450])
        sphere(20, $fn=50);
    }


translate([700, 0, 0])
	hoop();

translate([1000, 0, 0])
	hoop();

translate([1500, 0, 0])
	hoop();

translate([0, 250, 450])
	translate([700, 0, 0])
		stave();

translate([0, -250, 450])
	translate([700, 0, 0])
		stave();

translate([0, 0, 200])
	translate([700, 0, 0])
		stave();

translate([0, 0, 700])
	translate([700, 0, 0])
		stave();
]]> Moodul ja protseduur https://wp.heinar.pri.ee/moodul-ja-protseduur/ Mon, 03 Nov 2025 11:55:13 +0000 http://wp.heinar.pri.ee/?p=401

Mooduli ‘hv_mod_2’ koostamine
Vajutatakse nuppu ‘File’ . Valitakse New Module , Uuele moodulile antakse nimi hv_mod_2 , vajutatakse OK . Uus moodul ‘hv_mod_2’ on valmis. Moodulile ‘hv_mod_2’ lisatakse protseduur ehk routine ‘hvProc_2’. Valitakse Show module . Avaneb mooduli ‘hv_mod_2’ sisu . Valitakse Routines . Vastus on no routines . Valitakse file New Routine… . Uuele protseduurile antakse nimi ‘hvProc_2’ . Vajutatakse OK . Uus protseduur ‘hvProc_2’ on valmis. Vajutatakse Show Routine Avaneb protseduuri sisu Protseduurile hvProc_2 lisatakse käsk ‘Stop’ . Käsu ‘Stop’ leidmiseks kasutatakse nuppe ‘Previous’ ja ‘Next’ . Käsk ‘Stop’ lisatud . Vajutatakse ‘File’, valitakse ‘Save Program As’ . Vajutatakse nuppu OK . Vajutatakse nuppu OK . Mooduli ‘hv_mod_2’ koht failisüsteemis . Avatakse main moodul, lisatakse käsk ProcCall . Valitakse ‘hvProc2’ . Vajutatakse OK . Protseduuri poole pöördumine lisatud: resultaat . Debug abil kontrollitakse üle.

]]> RS algus https://wp.heinar.pri.ee/rs-algus/ Fri, 24 Oct 2025 12:23:20 +0000 http://wp.heinar.pri.ee/?p=153

1.1 Kataloog projekti salvestamiseks. Kataloogi nime formaat on soovituslikult yyy_mm_dd.

1.2 Rakenduse RobotStudio avaleht. Tädetakse väljad ‘Name’, ‘Location’, ‘Controller’, ‘RobotModel’, ‘Variant’, ‘RobotWare’. Vajutatakse nuppu ‘Create’.
Väljade väärtused:

NrVälja nimiSoovitatav väärtusSelgitus
1NameP_025_10_24Projekti nimi
2Location…/rs/prj/025_10_24Projekti kataloog
3ControllerIRB1600_6_145
4RobotModelIRB1600
5VariantIRB 1600 6kg 1.45m
6RobotWare6.15.08.00

Täidetud avaleht. Pärast nupu ‘Create’ vajutamist valitakse library. Valitakse IRB1600_6_145_G_03. Pärast library valimist on projekti koostamine tehtud.
Lehe all paremas servas on rohelisel taustal kiri ‘Controller status: 1/1’.

1.3. Esimese programmi koostamine juhtpuldi ‘FlexPendant’ abil. Juhtpult käivitatalse lehe tabil ‘Controller’ oleva nupu ‘FlexPendant’ vajutamise abil. Puldil vajutatakse võtmenuppu ja keeratakse võti 90 kraadi päripäeva. Vajutatakse nupud ‘Enable’ ja ‘Hold To Run’ rohelisteks. Vajutatakse juhtpuldi vasakus ülemises nurgas asuvat ABB nuppu. Avaneb menüü. Valitakse ‘Program Editor’. Avaneb programmiredaktor. Programmiredaktoris vajutatakse nuppu ‘Tasks and Programs’. Avaneb programmide loetelu. Vajutatakse nuppu ‘File’. Menüüst valitakse ‘Save Program As…’. Avaneb programmi salvestamise aken. Programm salvestatakse kataloogi ‘…/Virtual Controllers/IRB1600_6_145’. Programmi nimeks kirjutatakse ‘p01’ ja vajutatakse nuppu ‘OK’. Avaneb programmide loetelu. Programm on salvestatud nimega ‘p01’. Vajutatakse nuppu ‘Show Modules’. Avaneb moodulite loetelu. Marker viiakse reale ‘Module1 Program module’. Vajutatakse nuppu ‘Show Module’. Avaneb aken programmi ‘p01’ tekstiga.

1.4. Programmile ‘p01’ lisatakse käsk ‘moveL’ ja programm salvestatakse. Lehe all vasakus servas vajutatakse nuppu ‘Add Instruction’ . Lehe paremasse serva ilmub käskude tabel. Valitakse käsk ‘MoveL’. Lehel valitakse nupp ‘Above’ – uus rida lisatakse markeriga märgitud rea kohale. Käsk ‘MoveL * V1000…‘ on lisatud. Programmi ‘p01’ salvestamiseks valitakse lehel ‘Tasks and Programs’. Lehel vajutatakse nuppu ‘File’. Menüüst valitakse ‘Save Program As…’. Lehel vajutatakse nupp ‘OK’. Programmi nimi on ‘p01’ ja kataloog on ‘…/Virtual Controllers/IRB1600_6_145’. Lehel vajutatakse nuppu ‘OK’. Programm on salvestatud. Programmi ‘p01’ vaatamiseks kasutatakse nuppusid ‘Show Modules’ ja ‘Show Module’.

1.5. Roboti liigutamine juhtpuldi ‘FlexPendant’ abil. Vajutatakse ABB nuppu. Menüüst valitakse ‘Jogging’. Roboti lülide 1, 2, 3 liigutamiseks kasutatakse meetodit ‘Motion Mode axis 1-3‘ [1]. Lülisid liigutatakse juhthoova [2] abil. Juhthoova liigutamine vasakule [3] – paremale[4] liigutab esimest lüli, juhthoova liigutamine alla-üles liigutab teist lüli vastavalt väljale ‘Joystick directions’.
Lülide 4, 5, 6 liigutamiseks kasutatakse meetodit ‘Motion Mode axis 4-6‘. Juhthoova ja lülide vaheline seos on on väljal ‘Joystick directions’. Väljal ‘Position’ on lülide pöördenurgad kraadides.
Näiteks esimese lüli liigutamiseks ülalt alla vaadates vastupäeva kasutatakse meetodit ‘Motion Mode axis 1-3‘. Vajutatakse juhthooval nuppu ‘nool paremale’. Esimese lüli pöördenurk on väljal ‘Position’ esimesel real.

1.6. Roboti liigutamine programmi ‘p10’ abil. Roboti liigutamiseks algasendisse kasutatakse programmi ‘p01’. Avatakse programmi redaktor. Vajutatakse nuppu ‘Debug’. Vajutatakse ‘PP to Main‘ See nupp viib programmi viida (program pointer) protseduuri ‘main’ algusesse. Teatele vastatakse ‘Yes’. Programmi viit asub nüüd real 24. Et programmi teksti paremini naha, vajutatakse nuppu ‘Debug’. Programmi juhtimiseks on nupud ‘Play’, ‘Step’, ‘Stop’.
Kui manipulaatori liigutamiseks kasutatakse meetodit ‘Linear‘, siis on manipulaatori asukoht määratud koordinaatide XYZ kaudu. Koordinaadid on väljal ‘Position’. Sammu pikkuse määramiseks kasutatakse nuppu ‘ROB_1‘ /041_step_l.png/
Viige manipulaator asukohta X = 750 Y = 110 Z = 1164. Seejarel käivitage programm ‘p01’ , mis viib manipulaatori algasendisse tagasi.

1.7 Punkti defineerimine Menüüst valitakse ‘Program Data’. Vajutatakse nuppu ‘View‘ ja valitakse ‘All Data Types‘. Valitakse ‘robtarget‘.. Vajutatakse nuppu ‘Show Data‘. Vajutatakse nuppu ‘New‘. Vajutatakse nuppu ‘OK‘. Vajutatakse nuppu ‘Edit‘. Valitakse ‘Change Value‘. Täidetakse väljad x:= 750 y:= 110 z:= 1164. Vajutatakse OK. Punkt ‘p10‘ on defineeritud.

1.8. Defineeritud punkti kasutamine. Programmile ‘p01’ lisatakse rida. Avatakse programmiredaktor ja vajutatakse ‘Add Instruction’. Valitakse käsk MoveL. Valitakse ‘Below‘. Vajutatakse ‘Add Instruction‘.
Real 26 vajutatalse tärni, seejärel tehakse samas topeltklõps. Valitakse p10 ja vajutatakse ‘OK’ Käsk on lisatud. Käivitatakse programm ‘p01’ (punkt 1.6.) Robot hakkab liikuma punktide * ja p10 vahel.

]]> Teljed https://wp.heinar.pri.ee/teljed/ Fri, 24 Oct 2025 11:58:33 +0000 http://wp.heinar.pri.ee/?p=143 Telgede mudel on failis axes_7.stl.

Telgede mudel on loodud allpooltoodud skripti abil.

//	https://ochafik.com/openscad2
//	axes

h1	= 4;
d1	= 2;
n 	= 6;

module axis(k, name) {

	translate([0, 0, +(h1 / 2 + k * (d1 + h1))]) {
		if (name != "0") {
		translate([2, -2, 0])
			rotate([90, 0, 0])
				linear_extrude(1)
					text(name, size = 4);
			}
		cylinder(h = h1, r = 0.5, center = true, $fn = 50);
		}
	}
module ax(name) {
	for (a = [0 : 1 : n - 1]) {
		axis(a, "0");
	}
	axis(n, name);
	for (a = [0 : 1 : n - 1]) {
		axis(a - n, "0");
	}}
color("#AA0000")
rotate([0, 90, 0])
	ax("X");

color("#00AA00")
rotate([-90, 0, 0])
	ax("Y");

color("#0000AA")
	ax("Z");

]]> uus https://wp.heinar.pri.ee/hello-world/ https://wp.heinar.pri.ee/hello-world/#comments Sun, 21 Sep 2025 08:19:08 +0000 http://wp.heinar.pri.ee/?p=1 Welcome to WordPress. 

RobotStudio® Tutorial – Getting Started 2/5

Operating manual – RobotStudio

GitHub – rparak/ABB-RobotStudio-Tutorial-Simple: Demonstration of some simple examples in ABB RobotStudio.

ABB Robot Tutorials

https://yandex.com/search/?text=ABB+robot+studio+tutorial&lr=101458&clid=1836588

https://www.robots.com/articles/robot-programming-with-abbs-robotstudio-1

https://yandex.com/video/preview/6973516100809102022

https://www.abb.com/global/en/areas/robotics/products/software/robotstudio-suite/robotstudio-tutorials

9AKK107045A3920_ROBOTSTUDIO_revC.indd

GitHub – msilaev/ABBRobotStudio

! https://ochafik.com/openscad2
color("Green") cylinder(r=10, h=50, center=false);
translate([10, 0, 0]) color("#88AACC") cube(20);
translate([10, 0,30]) color("#88AACC") cube(20);

ABB RobotStudio Example Program

https://computeraidedautomation.com/infusions/articles/articles.php?article_id=43

/

/https://www.youtube.com/watch?v=UQrS6OWtc7Q

https://docs.mech-mind.net/en/robot-integration/latest/standard-interface-robot/abb-example-program.html

/https://www.youtube.com/watch?v=2AANOqm8Kfg

Programm pendanti abil

Kahe avaga plokk

Liikumine

Robot Programming ABB Introducing a line of motion code IRC5 Flex Pendant Prog Basic #1

Robot Programming ABB Introducing a line of motion code IRC5 Flex Pendant Prog Basic #1 – YouTube

https://www.youtube.com/watch?v=oaA9w-KB9wk

https://yandex.com/video/preview/7340732474535180734

ABB Robot Studio Tutorial: Definition of Work-object Frames in ABB Robot Studio – watch online in Yandex video search

How to Define Path and Move Robot Along a Path in ABB Robot Studio – YouTube

ABB Robot Quaternion Calculator

RobotStudio® Tutorial – Getting Started 1/5

Bing Videos

https://www.bing.com/videos/riverview/relatedvideo?q=rotation%20with%20quaternion%20example&mid=EB827E9977FF9F75ADC3EB827E9977FF9F75ADC3&ajaxhist=0

https://www.omnicalculator.com/math/quaternion

https://quaternions.online

// https://ochafik.com/openscad2

h1 = 4;
d1 = 2;

module axis(name){

    translate ([0, 0, + (h1/2 + 3 * (4 + h1/2))]){
        translate ([2, -2, 0])
        rotate([90, 0, 0])
        linear_extrude(1)
        text(name, size = 4);

        cylinder(h=h1, r=0.5, center=true, $fn=50);
        }


    translate ([0, 0, + (h1/2 + 2 * (4 + h1/2))])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, + (h1/2 + 4 + h1/2)])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, +h1/2])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, -h1/2])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, - (h1/2 + 4 + h1/2)])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, - (h1/2 + 2 * (4 + h1/2))])
    cylinder(h=h1, r=0.5, center=true, $fn=50);
    }


color("Blue"){
    axis("Z");
    }

color("Red"){ 
translate ([0, 0, 0])
rotate([0, 90, 0])
    axis("X");
    }

color("Green"){ 
translate ([0, 0, 0])
rotate([-90, 0, 0])
    axis("Y");
    }



module hoop(){
translate([0, 0, 450])
rotate([0, 90, 0]){
    color("#3333AA")
       rotate_extrude(angle = 180, convexity = 10)
          translate([250, 0, 0])
             circle(r = 4);

        color("lime")
            rotate([0, 0, 180])
                rotate_extrude(angle = 180, convexity = 10)
                    translate([250, 0, 0])
						circle(r = 4);
    }
}

module stave(){

	color("YellowGreen"){
		rotate([0, 90, 0])
		cylinder(800, 4, 4);
		}
}


color("tan") {
    translate([1000, 0, 200]){
        sphere(20, $fn=50);
	translate([30, -30, 20])
	rotate([90, 0, 0])
	linear_extrude(2)
		text("P_10", size = 10);}

    translate([1000, 250, 450]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_20", size = 10);
		sphere(20, $fn=50);
		}

    translate([1000, 0, 700]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_30", size = 10);
        sphere(20, $fn=50);}

    translate([1000, -250, 450]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_40", size = 10);
        sphere(20, $fn=50);}
    }

color("green") {
    translate([1500, 0, 200])
        sphere(20, $fn=50);

    translate([1500, 250, 450])
        sphere(20, $fn=50);

    translate([1500, 0, 700])
        sphere(20, $fn=50);

    translate([1500, -250, 450])
        sphere(20, $fn=50);
    }

color("cyan") {
    translate([700, 0, 200])
        sphere(20, $fn=50);

    translate([700, 250, 450])
        sphere(20, $fn=50);

    translate([700, 0, 700])
        sphere(20, $fn=50);

    translate([700, -250, 450])
        sphere(20, $fn=50);
    }


translate([700, 0, 0])
	hoop();

translate([1000, 0, 0])
	hoop();

translate([1500, 0, 0])
	hoop();

translate([0, 250, 450])
	translate([700, 0, 0])
		stave();

translate([0, -250, 450])
	translate([700, 0, 0])
		stave();

translate([0, 0, 200])
	translate([700, 0, 0])
		stave();

translate([0, 0, 700])
	translate([700, 0, 0])
		stave();

//	https://ochafik.com/openscad2
//	axes

h1	= 4;
d1	= 2;
n 	= 6;

module axis(k, name) {

	translate([0, 0, +(h1 / 2 + k * (d1 + h1))]) {
		if (name != "0") {
		translate([2, -2, 0])
			rotate([90, 0, 0])
				linear_extrude(1)
					text(name, size = 4);
			}
		cylinder(h = h1, r = 0.5, center = true, $fn = 50);
		}
	}
module ax(name) {
	for (a = [0 : 1 : n - 1]) {
		axis(a, "0");
	}
	axis(n, name);
	for (a = [0 : 1 : n - 1]) {
		axis(a - n, "0");
	}}
color("#AA0000")
rotate([0, 90, 0])
	ax("X");

color("#00AA00")
rotate([-90, 0, 0])
	ax("Y");

color("#0000AA")
	ax("Z");

/

rotate([0, 0, 45])
	rotate([0, 45, 0])
		color("#222288")
			ax("D1");

rotate([0, 0, 45])
	rotate([0, 60, 0])
		color("#222288")
			ax("D2");

rotate([0, 0, 45])
	rotate([0, 30, 0])
		color("#222288")
			ax("D3");

liikumine 60->70->80->90->100
 p60 = [      0,       1, 0, 0] = [cos(180/2), sin(180/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva 180 (abs)
 p70 = [0.25882, 0.96593, 0, 0] = [cos(150/2), sin(150/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva 150 (abs) 
 p70 = p80 30 vastupäeva
 p80 = [0.5    , 0.86603, 0, 0] = [cos(120/2), sin(120/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva 120 (abs)
 p80 = p70 30 vastupäeva
 p90 = [0.70711, 0.70711, 0, 0] = [cos( 90/2), sin( 90/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva  90 (abs)
 p90 = p80 30 vastupäeva
p100 = [0.76604, 0.64279, 0, 0] = [cos( 80/2), sin( 80/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva  80 (abs)
p100 = p90 10 vastupäeva

pööre 40 ümber x- i = (+40) = [cos( 40/2), sin( 40/2), 0, 0] = [0.93969, 0.34202, 0, 0]

	p100 * (+40) = [0.76604,0.64279,0,0] * [0.93969, 0.34202, 0, 0] = [0.5, 0.86603, 0, 0] = p80
	( https://www.omnicalculator.com/math/quaternion )

MODULE Module1
	CONST robtarget p10:=[[800,200,1100],[0.5,0,0.86602544,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p20:=[[800,200,1100],[0.70712,0,0.70712,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p30:=[[800,200,1100],[0.70712,0.70712,0,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p40:=[[800,200,1100],[0.92388,0.38268,0,0],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p50:=[[800,200,1100],[0.707107,7.47086E-10,0.707107,-1.85805E-09],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p60:=[[1000,176.78,626.78],[0,1,0,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p70:=[[1000,176.78,626.78],[0.25882,0.96593,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p80:=[[1000,176.78,626.78],[0.5,0.86603,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p90:=[[1000,176.78,626.78],[0.70711,0.70711,0,0],[0,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p100:=[[1000,176.78,626.78],[0.76604,0.64279,0,0],[0,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p110:=[[821.52,197.50,1049.08],[0.569344,0.0980948,0.816226,4.57284E-7],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    !***********************************************************
    !
    ! Module:  Module1
    !
    ! Description:
    !   <Insert description here>
    !
    ! Author: hav
    !
    ! Version: 1.0
    !
    !***********************************************************
    
    
    !***********************************************************
    !
    ! Procedure main
    !
    !   This is the entry point of your program
    !
    !***********************************************************
    PROC main()
        MoveL [[806.29,0.00,1154.00],[0.5,8.4755E-9,0.866025,4.89333E-9],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]], v1000, z50, tool0;
        MoveL p60, v1000, z50, tool0;
        MoveL p70, v1000, z50, tool0;
        MoveL p80, v1000, z50, tool0;
        MoveL p90, v1000, z50, tool0;
        MoveL p100, v1000, z50, tool0;
        MoveL p10, v1000, z50, tool0;
        MoveL p20, v1000, z50, tool0;
        MoveL p30, v1000, z50, tool0;
        MoveL p40, v1000, z50, tool0;
    ENDPROC
ENDMODULE

https://fixthephoto.com/online-gimp-editor.htmlhttps://fixthephoto.com/online-gimp-editor.html

/https://paint.sumo.app/https://paint.sumo.app/

/https://yandex.com/search/?text=gimp+online&lr=11481https://yandex.com/search/?text=gimp+online&lr=11481

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