Hello.
I needed to advise ....
I use the robot for milling. The problem is to generate the program eg. Linear draw using BASE [1] through the postprocessor (Sprutcam) robot is at the Z plane (the tool is perpendicular to the table) at an angle. The split between distance at (approximately 1800mm) is about 60mm!
Measuring tool: $TOOL_DATA[1]=X 0 , Y 216 , Z 105, A -90 , B -90, C0
Measuring base: $BASE_DATA[1]=X1800, Y1700, Z750, A0, B0, C0
$ROBROOT=X0, Y0, Z0, A0, B0, C0 .......
e.g program:
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0)
BAS (#VEL_PTP,20)
BAS (#ACC_PTP,20)
$BASE=BASE_DATA[1]
$TOOL=TOOL_DATA[1]
$advance=5
$VEL.CP=0.167
PTP {A1 -3.610, A2 -49.807, A3 110.961, A4 0.000, A5 -61.154, A6 90.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 68 , Y -100, Z 10, A -30, B 0, C-180}
LIN {X 68 , Y -100, Z 0, A -30, B 0, C-180}
LIN {X 68 , Y 100, Z 0, A 30, B 0, C 180} -there is a problem beacause Z axis is not Z0 but is real Z20....why?