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Almost reay for Milling!

  • happytriger2000
  • August 25, 2013 at 10:25 AM
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  • happytriger2000
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    • August 25, 2013 at 10:25 AM
    • #1

    Ok guys, I'm almost done, spindle mounted and spin tested, now I need to find a way to let the robot know that the stock is 1200mm away to right (right side of the robot), I know I can input 1200mm at the 7th axis in RM(Robotmaster) but I haven't got the right post yet, so I need find an alternative way to move E1 1200mm to the right. I have tried moving E1 (Linear Axis) 1200mm to the right by jogging it, but when I execute a program it returns to the position in the 1st place, would it work if I move the robot to he right then turn off E1 in machine data?

  • eusty
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    • August 25, 2013 at 6:06 PM
    • #2

    Just modify the .E1 component of your move in the program. :smiling_face:

    Sent using Tapatalk 4

  • happytriger2000
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    • August 26, 2013 at 2:08 AM
    • #3

    Is it at the : $H_POS = {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} or
    PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}?

  • happytriger2000
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    • August 26, 2013 at 3:15 AM
    • #4

    Did a little bit of searching, I need to add PTP{E1180} somewhere in the program, right?
    But that is in degree, how about in linear distance 1220mm?

  • eusty
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    • August 26, 2013 at 9:05 AM
    • #5

    It depends on how your external axis is set up, but if it's a track then generally the E1 value is in mm.

    Yours looks like it's a Kuka track so there should be no issues.

    PTP{E1 1200.0}

    Sent using Tapatalk 4

    Edited once, last by eusty (August 26, 2013 at 9:08 AM).

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    SkyeFire
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    • August 26, 2013 at 3:15 PM
    • #6

    It depends on which points in your program include an E1 value. If every point includes a value for E1, then you'll need to make the correction to every point. If only one point includes an E1 value, then you only need to correct that one.

  • happytriger2000
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    • August 28, 2013 at 2:45 AM
    • #7

    I moved the base/stock closer to the robot+track and the Base co-ordinates becomes:
    x=1510
    Y=16.5
    Z=484
    A=0
    B=0
    C=0
    this also reduce the "Red lines" when calculating tool orientation where as before I often get "Out-of-Reach"
    No PTP E1 -1200 is used.

  • happytriger2000
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    • August 28, 2013 at 12:07 PM
    • #8

    Ok, started facing the PU block!!
    http://youtu.be/Nt4JfJIkaq0

  • happytriger2000
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    • August 31, 2013 at 7:52 AM
    • #9

    Here is my new setup, 1 rotary added as E2 (8th axis) laying vertically:

    I would like to try a sample code for this setup, will anyone provide a free sample code?

    thanks,

  • vvelikov
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    • August 31, 2013 at 12:26 PM
    • #10

    What do you want to mill? I made one demon head about a week ago :smiling_face: if you like it, can do the code?
    take a look:

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  • happytriger2000
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    • August 31, 2013 at 12:51 PM
    • #11

    wow, that's a nice 3D model, did you you create that?

    I want to try this:
    http://youtu.be/AHduM9odoJk

  • vvelikov
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    • August 31, 2013 at 4:47 PM
    • #12

    Yes - it is my model... i can add a torso if you want. Or can do a bust -
    Not sure how to do the rotational axis, but will give it a try :smiling_face:

  • happytriger2000
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    • August 31, 2013 at 6:02 PM
    • #13

    Is it Maya, 3Dmax, Freeform + sensable? It looks really high def., I like it. Is not a 3d scanned model is it? how long did it took you to create the head in CAD?
    I can try milling the head, but 1st need to do the 8th axis rotation sync with 6 axis like in the video.

  • vvelikov
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    • August 31, 2013 at 6:42 PM
    • #14

    It is done in Zbrush - i am learning it. Took me about four hours to do it - still not complete.

    I can try to do this for you in Sprutcam?

  • potis
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    • August 31, 2013 at 7:35 PM
    • #15

    if you can send my a file of the demon cad i can try it also with Delcam Powermill Robot Interface.

  • happytriger2000
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    • September 1, 2013 at 3:11 AM
    • #16

    Vvelikov,
    Sprutcam is fine, but do you have the post for external axis?
    Potis,
    have uoi tried the rotation method before?, maybe you can give it a try.

  • RAS-Skordos GR
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    • September 1, 2013 at 8:54 PM
    • #17

    Hmmm...I'd be careful with that demon head. I think there is a high risk for collision due to the many holes and blind spots. Also the tips of the horns might not withstand the vibrations. You will probably need a true maestry with conv/climb, speeds and tool direction.

    I will soon post you pics and facts from some of our CAD-to-Robot solutions. We have achieved Robot, Robot+1 ext. axis and Robot+2 ext.axis operations for milling, cutting, welding and dispensing projects. Solidworks, UG, Powermill and/or customised prc for KUKA, Motoman, Fanuc and Mitsubishi. Unfortunately, most of the customers do not allow any info to go public due to the major step-ahead that they maintain at the moment. As soon as their products hit the market, we are free to gradually release info, so please allow me some time.

  • vvelikov
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    • September 1, 2013 at 11:49 PM
    • #18

    Potis: here is the file:

    http://we.tl/BfOxi2FqWa

    I am not sure what is the real size of the Head (it should be about 300mm in height), so check it in your software and change it if needed.

    RAS-Skordos GR:
    I would do a model like this one in separate pieces... but for the testing it is not needed to do it with that level of detail may be.
    I am attaching the last model i did in MDF :smiling_face:

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    Edited once, last by vvelikov (September 2, 2013 at 12:34 AM).

  • vvelikov
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    • September 2, 2013 at 2:04 AM
    • #19

    happytriger2000: to do the code for you i will need to know more about your tooling - what size router bit you have/want to use for this foam and also some info about the tool holder to prevent it touching the part.

  • happytriger2000
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    • September 2, 2013 at 2:49 AM
    • #20

    The cutter bit is: 20mm dia. 256mm length.(from tool tip to tool holder), tool holder HSK F63.

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