Author Topic: Rotation of 180 gradees  (Read 1249 times)

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Offline MUNIACO

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Rotation of 180 gradees
« on: February 13, 2018, 05:58:48 PM »
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

Offline Atinder

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Re: Rotation of 180 gradees
« Reply #1 on: February 13, 2018, 07:47:08 PM »
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


Offline MUNIACO

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Re: Rotation of 180 gradees
« Reply #2 on: February 13, 2018, 07:59:06 PM »
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
Thanks for reply.
After check this limits how I can rotate the tool between position a and c? I need to create multiple PR ?

Offline Atinder

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Re: Rotation of 180 gradees
« Reply #3 on: February 13, 2018, 08:11:24 PM »
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 »

Offline MUNIACO

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Re: Rotation of 180 gradees
« Reply #4 on: February 13, 2018, 08:27:18 PM »
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?

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.

Offline moln4r

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Re: Rotation of 180 gradees
« Reply #5 on: February 13, 2018, 09:14:47 PM »
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.

Offline MUNIACO

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Re: Rotation of 180 gradees
« Reply #6 on: February 13, 2018, 09:26:21 PM »
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.
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


Offline Atinder

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Re: Rotation of 180 gradees
« Reply #7 on: February 14, 2018, 02:23:32 PM »
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.

Offline moln4r

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Re: Rotation of 180 gradees
« Reply #8 on: February 14, 2018, 04:15:40 PM »
Just like Atinder said.Create a joint point, but be careful joint movements can cause collisions easily, check it in slow speed first.

Offline TitusLepic

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Re: Rotation of 180 gradees
« Reply #9 on: February 14, 2018, 04:30:32 PM »
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.

Offline MUNIACO

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Re: Rotation of 180 gradees
« Reply #10 on: February 14, 2018, 08:00:47 PM »
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.
Thanks. And i can choose the speed that robot will rotate the tool?

Offline Atinder

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Re: Rotation of 180 gradees
« Reply #11 on: February 14, 2018, 08:14:35 PM »
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 »

Offline MUNIACO

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Re: Rotation of 180 gradees
« Reply #12 on: February 15, 2018, 11:38:12 AM »
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.




Offline Atinder

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Re: Rotation of 180 gradees
« Reply #13 on: February 15, 2018, 11:59:34 AM »
What is the second way you tried?

Offline MUNIACO

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Re: Rotation of 180 gradees
« Reply #14 on: February 15, 2018, 12:24:15 PM »
What is the second way you tried?
Titus way