Z-axis direction on (J6) mounting arm of Robot

[er_rahulb]

Hi, All,

I want ur views on this topic,

When we use robots for BIW Simulation specially in spot welding process, 

I did 1 project for Volkwagen (for KUKA robots) they used to keep Z axis in outside direction, so we hv to keep Z direction of frame inward direction at gun mounting point or gripper.

In another project of BMW ((for KUKA robots)), They asked us to keep Z axis inward direction. So we hv to keep z axis of frame outward direction of gun mounting point or gripper

I want to know why this method differs for company to company? Who decides the direction of frame on robot mounting arm? N why? is there any specific reason for this? In both project we worked on KUKA robots?

Plz Reply

Thanks

Rahul

[simspec]

N.B. All frame orientations mentioned below are when robots are in home position (all joints at zero).

A lot of robot companies had there own orientation for the TOOLFRAME (if you look in the robcad libraries you will see different ones).

However over time most of the commonly used robot manufacturers have changed the z axis of the TOOLFRAME to pointing straight out of the robot flange and going into the tool (some robot companies have x pointing up, others have x pointing down, others have y pointing up or y pointing down).

The most probable reason why BMW and Volkswagen use different TOOLFRAME orientation is tradition (that was the TOOLFRAME orientation of the first robots that they bought, & thats what there maintenance people understand), it could even be that that was the orientation of the TOOLFRAME on the robot that the INDIVIDUAL factory first bought.

[bobby]

Hello Rahul, Generally it shouldn't make much difference how u define ur mounting frame on ur tool it may be  Z ‘+’ or ‘-‘, only thing u have to takecare is ur tool TCPF…. I really don’t know abt Volkswagen or BMW, but generally as per my knowledge ur tool TCPF direction will change and again it depends Robot which u use and company to company
And if you have Volkswagen /BMW standards for robcad kindly forward to this mail id bobby.rpr@gmail.com

[RobcadSim]

There is no Why, just standard of different Company.