Hello guys,
I have an application where I am moreless tracing the outside of a part, it has some curves and straight to it. What is the best method to doing this? I am currently at the stage where I have it all in roboguide. Using an m710ic
Hello guys,
I have an application where I am moreless tracing the outside of a part, it has some curves and straight to it. What is the best method to doing this? I am currently at the stage where I have it all in roboguide. Using an m710ic
I should also mention we are unloading a reel of seal material as well so as we go around the part the speed should be constant through the radius as well
I would use the CAD to path features of RoboGuide to draw the path on the part, then export the path to the robot, then use the TCP trace to verify that the speed was constant throughout the entire path.
Does anyone have any videos or explanations on how to do this? I have not done this process before.
Thanks,
I did find a walkthrough of this in the fanuc help file now that I know what I am looking for I will get back to you guys with how I make out.
I am now using the cad to generate edges to follow however I do have a question. I would like the robots head to rotate about Z, but stay straight up and down, and not rotate about X & Y, is this possible?
If you open up the property page for the User Tool, there is a tab called "Feature Pos Dflts". You should be able to set this behavior by adjusting those settings.
I have a couple options here and I have been playing with them. Basically i have the option to keep a normal face and turn the tool. Keep a normal face and do not turn the face. Or do Neither. I don't seem to have a way to turn the tool but don't keep the face normal.
In the feature/section properties, there is a tab called "Raw Normals." If you check the "Override and Blend raw normals" and "Blend repsect [sic] to only start and end point normals," you can set a segment start and end position and have the tool interpolate it's orientation between those two points. Orientation handling has to be set to "change tool spin along path, keep normal" in order for it to work.
This is seeming to get me into the right direction, I will play with this
Thanks for the help, I now am having good success with this. How do I try to speed it up. I am running at speed of 650, based on how many inches i am covering I am going about 1/4 the speed of that. I am running a point every 7 mm. Changing this seems to speed it up, but thats starting to get pretty far apart. Any suggestions?
all points are cnt 5
CNT5 means that the robot will round the corner at 5% of your speed (.05*650=32.5mm/s). If you change to CNT100, it will maintain 100% of your speed.
If path geometry becomes a major issue, you may want to add the motion package (RTL-R809), which allows you to use the CR termination type. CR is corner rounding, and tells the robot to get within a sphere of X mm while maintaining the commanded speed.
Side note:
The RTL-R809 Motion Package includes:
o RTL-R583 Motion Interface
o RTL-R663 Constant Path
o RTL-R792 Singularity Avoidance
o RTL-R805 ADV-CP Speed Control
o RTL-R806 ADV-CP Path Control
o RTL-J684 Collision Guard
There is also the PTH motion modifier. If you add to the end of each motion it should help maintain speed with many close points.
Thank you guys for the help. Now getting this thing into the real robot.... If i transfer the TP file I will get all the points. However my machine would not be 100% exactly to cad. If i needed to keep the path but need to apply an offset/rotation to the whole path to line it up to the real world, what is the best approach to doing this. Or any methods of fine tuning this path in the real world. This is my first time doing a pathing type robot program. Everything I have done up to this point has been pick and place.
You should have programmed your path using a UFrame that correlates to your part or your fixture. I teach the UFrame using the 3 point method in roboguide before generating paths, then teach it on the physical robot using the same 3 points on my part once the program's loaded on the robot. If there's a discrepancy between my model and my part, it's easy to adjust the UFrame from that point using direct entry.
If your part/fixture is set up in a way that doesn't have a good way to teach the user frame, there's also a calibration tool in roboguide that will let you match any 3 points in order to make your roboguide setup match your real world setup. Right click on your fixture, click the "calibration" tab. It's pretty self explanatory.
Thank you, Most of the time we are not worrying about going from roboguide to the real world. I will look into this calibration. Thank you