Hello all,
most probably I am missing some fundamental bit of knowledge here, so I thought I would kindly ask for your help.
I am working with a KRC2 on a glueing application. The system has two additional axis, L-type, tilt & rotate. They are configured and calibrated as sync axes. When I move E1 or E2, the tcp follows exactly. Also, no matter how I place E1 and E2, the X, Y, Z of the robot (frame 17) always follows the surface of the positioner's flange.
My difficulty is with programming. The object that is placed on the positioner has the shape of a plate (or shallow bowl). In the center, it is shallow, but it bends upwards as you move towards the perimeter. The starting inclination is 0deg and the final on the perimeter is ~25deg.
We start applying glue near the center of that "plate". We need to move in a spiral until we reach the perimeter. E2 is doing all the rotation, otherwise the robot cannot reach; robot only moving in Y. E1 is doing the tilting so that the gun is perpendicular to the surface of the "plate". If I use the frame 17 in the inline form, the tcp tries to follow the rotation of the E1; no good. If I use nullframe, the tilting is perfect, the Y movement towards the perimeter is perfect, but the rotation speed of E2 is out of control.
I need to keep the robot moving only in Y direction; not follow the rotation of E2. The sync with the tilt axis E1 is perfect in both orientations and speed. At the same time, the speed of the rotation in relation to the tcp must also be right.
What a headache (for me at least). Any comment would be welcome