Hi,
I need to dimension a spindle fitted on my robot's flange.
It's fitted conventionally such that the spindle faces down when the flange faces straight out.
I have set the tool offsets Y and Z, and when I jog in tool mode it seems to work ok.
However when I run a program, Jappro, Jdepart etc all work in reverse.
Something to do with the OAT settings?
Any help here would be gatefully received...
Tool dimensions for spindle?
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Yorrite -
January 8, 2016 at 8:25 PM -
Thread is marked as Resolved.
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Hi Yorrite
QuoteI have set the tool offsets Y and Z, and when I jog in tool mode it seems to work ok
- Do you mean you have only added Y and Z offsets and not anything in OAT?
- If so, then I doubt it would move correctly in Tool Mode - Have you tried all axes and also Rx, Ry and Rz?
- I suspect RY may rotate your spindle around its point - and Y+ will move your spindle down if the OAT are at (0,0,0) - Can you clarify this?
- What are your current OAT values?
- Has the Tool been correctly set in your AS Program
- Is System Switch QTOOL ON or OFF?It is difficult to provide you with OAT values to try, as I don't know how the spindle has been mounted referenced to the flange/and what robot your using.
OK, Big assumption to try - If you have used the dowel as a mounting reference (I am assuming this is 12 o'clock of JT6 Flange Y- for Tool Null)Then try:
O as 90
A as 90
T as 90
( This should set the TCP of the spindle as Z+/Z- if my assumption is correct............)If you have mounted the spindle offset to the dowel, then you should have to play around with O and T values to get it aligned correctly.
- Again, this is a big assumption as fundamentally, I do not know if you have mounted the Spindle parallel to the Tool Null.Let us know if this helps...............................
If not, could you provide further information:
1. Picture of the actual spindle and also indicate where the dowel is and also JT6 zero marker).
2. Y and Z offset values (are these dimensionally referenced to JT6 Centre).
3. Current OAT values.Other than that, I would teach the offset using the A+B method in the AS Manual for teaching an unknown tool (usually section 11).....Let me know if you need any further assistance with this..................
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Many thanks Kwakisaki for your comprehensive help.
I now have everything working with O, A, & T all set to 90 as you suggested.
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Hi Yorrite
Excellent news...............
It was a big assumption (best guess) on my part based on the fact you mentioned just Y and Z offsets and assuming the mounted location.......I put that one down to a lucky guess.....
Thanks for letting us know......and glad it's all working.