To many coordinate systems on these damn things lol.
Our system is using a spindle (routing foam).
KUka is in the cell corner with X/Y axis of robroot and world coordinate systems running parallel to both walls.
Our work table is set so that if A1 is rotated 45 degrees it sits over the table centre and A2/A3/A4 axis is then perpendicular to the table axis (table running at 45 degrees through cell).
I will set two Base coordinate systems on the table so that two foam blocks can be align on the table surface for machining.
Is it "bad practice" to change the world coordinate system to align with the table in this instance (robroot and world no longer aligned).
Given the relationship between world/Base/tool and my head!!! I was thinking this might make more sense when I am jogging and setting up Base systems etc
I would also considering a 2nd home position over the centre of the table
A1: 45, A2:90, A3:-90, A4:0, A5: 30, A6: 1.5
(Spindle bracket is at a 30 degree and 1.5 degree offset so the above home position would have Kuka in the cannon position with the spindle over the centre of the table between work pieces and perpindicular to the table surface).
I would run tool orientation/calibration in this position.
Does this sound okay?
Cheers