January 17, 2019, 07:34:37 PM
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 Rotation of 180 gradees


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February 13, 2018, 05:58:48 PM
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MUNIACO


Hi guys,


Is possible rotate tool of 180 of robot standing in a wait position?
Robot go to position A to C, but I want to create a B position in which robot rotate tool of 180°. I see is the X Axis.


Thanks

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=25837.0
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Today at 07:34:37 PM
Reply #1

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February 13, 2018, 07:47:08 PM
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Atinder


Yes, you can rotate your tool or whatever axis in 180 degree. But you might have to take a look at your axis limit setup.
To do so wherever you are waiting in the cell give it a rotation and record a point there.
Axis limit setup is in-
Menu
System
F1 [Type]
Axis Limit

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February 13, 2018, 07:59:06 PM
Reply #2
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MUNIACO


Axis Limit
Thanks for reply.
After check this limits how I can rotate the tool between position a and c? I need to create multiple PR ?
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February 13, 2018, 08:11:24 PM
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Atinder


You need to check that axis limit which you are trying to rotate, if it's in the 180 degree limit or not. After that you jog to your pont A and then wherever your point B will be, once at that point B start rotating the axis, once you have got your 180 degree rotation record that point and you can make a choice for that position to be PR or simple point. After that you can jog to point C. And I think so to rotate your tool you have to be in Joint Coord System, once in joint mode use your jog key J6 +/_ z to rotate the tool.
Now I got a question for you- while you are moving to position C, do you want to rotate your axis back to its initial state as you started with?
« Last Edit: February 13, 2018, 08:14:13 PM by Atinder »
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February 13, 2018, 08:27:18 PM
Reply #4
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MUNIACO



OK thaks.
And yes. Because in position A robot pickup a thing that I need he put it on a mold 180°. Then rotate again to go to pickup another thing.. Etc,etc.
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February 13, 2018, 09:14:47 PM
Reply #5
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moln4r



The question is:
Do you want to rotate the axis in every cycle? or just sometimes?
Doesn't understand exactly...if you just want to rotate the axis why don't you just teach a new point? or just offset an existing one.
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February 13, 2018, 09:26:21 PM
Reply #6
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MUNIACO


Hi guys,


Is possible rotate tool of 180 of robot standing in a wait position?
Robot go to position A to C, but I want to create a B position in which robot rotate tool of 180°. I see is the X Axis.


Thanks

The question is:
Do you want to rotate the axis in every cycle? or just sometimes?
Doesn't understand exactly...if you just want to rotate the axis why don't you just teach a new point? or just offset an existing one.
[/quote]my question was what is the best way to rotate the tool. I did not know where to check the J6 axis limit, and if creating different points was the best method.
 I also did not know if saving a point A at 0 ° and B at 180 ° could create problems.
Maybe the correct procedure is create multiple point between 0° and 180° like 1)0° 2)30° 3)60° etc etc.
my idea was to rotate the stationary tool and then move to the desired point.

Inviato dal mio HUAWEI P8 lite 2017 utilizzando Tapatalk

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Today at 07:34:37 PM
Reply #7

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February 14, 2018, 02:23:32 PM
Reply #7
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Atinder


Yeah man, you just need to be in 'JOINT' Coord Mode and you can move that J6 axis of yours 180 with +/- z jog key. I have done what you are trying to do before and it works good for me.
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February 14, 2018, 04:15:40 PM
Reply #8
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moln4r


Just like Atinder said.Create a joint point, but be careful joint movements can cause collisions easily, check it in slow speed first.
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February 14, 2018, 04:30:32 PM
Reply #9
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TitusLepic


You don't have to create the point as a joint move, linear will work too... another way to do it (instead of trying to jog) - select the point, hit position, change the representation to joint, add (or subtract) 180 from J6, change representation back to cartesian.
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February 14, 2018, 08:00:47 PM
Reply #10
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MUNIACO


Thanks. And i can choose the speed that robot will rotate the tool?
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February 14, 2018, 08:14:35 PM
Reply #11
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Atinder


Yes, my friend you can choose the speed. To do so first of all when you record a point you choose either J P[a] speed% CNT n% or L P speed% CNT n%. Over here when you set the value of CNT that will control the speed of your rotation. Try using the value 25-60 for medium speed  or 70-100 for fast rotation and FINE instead of CNT for slow precise rotation or even CNT(0-25) will give you a slow rotation.
« Last Edit: February 14, 2018, 08:16:37 PM by Atinder »
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February 15, 2018, 11:38:12 AM
Reply #12
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MUNIACO


Hi guys,

I try the two way. Creating different points and changing j6. The first works perfectly but the second way no. Probably I do something wrong.

I get error of axis G. I don't remember the correct  error line.

This is that I did:

- Create point1 on a program.
- select p1 then f5(position).
- change type of coordinate from WORD to JOINT using button coord of teachpedant.
- change j6 of +180°
- done.



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February 15, 2018, 11:59:34 AM
Reply #13
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Atinder


What is the second way you tried?
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Today at 07:34:37 PM
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February 15, 2018, 12:24:15 PM
Reply #14
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MUNIACO


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February 15, 2018, 12:31:47 PM
Reply #15
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Atinder


Even I have never tried that way. If your robot is running the way you wanted so leave it for now I would say and maybe give it a shot whenever you have some play time.
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February 15, 2018, 06:35:20 PM
Reply #16
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TitusLepic


See attached pictures for how to rotate J6 exactly 180°

First, select the point and hit position (F5). Sounds like you did that part right.
Second, hit [REPRE] (F5) to change the representation
Third, add (or subtract) 180° from J6. In my example, I started at -90° and added 180° to get +90°.
Last, change the representation back to cartesian. You can see in my picture that J6 has rotated exactly 180°

This has nothing to do with your jog coordinates or axis limits.
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February 15, 2018, 06:41:27 PM
Reply #17
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MUNIACO




 (F5) to change the representation
Third, add (or subtract) 180° from J6. In my example, I started at -90° and added 180° to get +90°.
Last, change the representation back to cartesian. You can see in my picture that J6 has rotated exactly 180°

This has nothing to do with your jog coordinates or axis limits.

So so so so so so so and so many thanks!
I'm newbie, in fact I've confuse the change representation with normally coord change with the coord button on keyboard. Sorry about that.

Tomorrow I will try.

Thanks again.
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