Align Tool working Direction To Base

    Hi All,

    My first post , but admittedly a novice feeling on this one , so hoping your able to defragment my mind ,

    Process is a vertical linear stroke mounted onto BASE_DATA[1].

    I'm want to align the TCP of the hole to the BASE so that the bore of the hole is in alignment essentially. I'm sent the values of a hole ( X/Y/Z/A/B/C ) relative to the flange ( via CAD / CATIA )

    The Robot is Ceiling mounted.

    The working direction of the tool is "X".

    The TOOL_DATA / BASE_DATA are as follows:

    TOOL_DATA[3] = {X 36.0810,Y -0.00200000,Z 124.750,A -4.02600,B 89.4660,C -5.50200}

    BASE_DATA[1] = {X -211.718506,Y -246.207,Z -1222.30701,A -0.502900,B 0.140900,C -0.129100}

    The .SRC is written is KRL , so any help is massively welcomed.

    Additional info , the KSS is V8.3.39

    robot Type is : KR6-700-2

    Rough .SRC as follows:

    DEF basepositioningdemo(FI_nToolNr : IN)

    ;************************************************

    ;* Description: BasePositioningDemo *

    ;************************************************

    ((((Note I have delected folds for initialisations etc.....))))

    $TOOL = TOOL_DATA[FI_nToolNr] ; CAD/CATIA Imported X/Y/Z/A/B/C

    $ACT_TOOL = FI_nToolN

    $BASE = BASE_DATA[1]

    $ACT_BASE = 1

    IF CALCULATIONS () THEN

    MsgQuit("Confirm Your Ready") ;Capture Slow Reaction *TEMP*

    PTP XSample1 ; Adjust Via OverView Screen For Testing

    ELSE

    MsgQuit ("Confirm Your Mistake!!!!") ;Capture Slow Reaction *TEMP*

    ENDIF

    ; Drive to Xhome

    END

    -----------------------------------------------------------------------------------------------------------

    DEFFCT BOOL CALCULATIONS ()

    ;FOLD HEADER


    ;ENDFOLD (Header)

    ;FOLD DECLARATIONS

    DECL BOOL _bResult , _bDataValid[6]

    ;ENDFOLD (Declarations)

    ;FOLD EXECUTABLE

    $VEL.CP = 0.01

    ; _bResult = _bDataValid

    _bResult = TRUE ; No Data Checking During

    RETURN _bResult

    ;ENDFOLD (Executable)

    ENDFCT

    ----------------------------------------------------------------------------------------------------------

    Many thanks inadvance Forum.....

    Edited once, last by SU05LLY (August 30, 2019 at 12:10 PM).

    Quote from Leon

    I am sorry, but i am not seeing a Question here. What is giving you problems? Am i missing something?

    I have to agree, what's the question?

    Are you trying to align the TCP with the Base? That's straightforward -- simply active that Tool and Base, and program a position with ABC values that are multiples of 90 (which ones depend on which axes you want to align -- 0,0,0 would align all 3 axes, while 0,0,180 would would make the X axes parallel, the Y& Z axes antiparallel. And so on)

    Appologies for not getting back , task switching hasn't helped.

    So the main issue , is that by switching the robot from an FLR to a CLG via orienting C 180 , this has had an effect on the moves , meaning we have had to add to the motion "XExample.C" to 180.0 in order to run , by my own naivety , I assumed the flipping of the robot to CLG mount would of sorted this out .

    Sully

    "Switching the robot from FLR to CLG"? What? What did you change? What C value?

    If the robot is really changed from FLR to CLG, that will normally rotate $WORLD so that Z+ is still anti-parallel to gravity (i.e., "straight up"). If all you did was change the Base by rotating it C+180, then no, that won't work -- you have to fix the Bases in all 6DOF. The simplest way to do that is re-teach the Base(s) after the robot has been physically moved. This is a regular thing, although switching between floor and ceiling mount is a rather extreme case.

    i think he just meant to change $ROBROOT but ended modifying programmed points or frames

    but modifying $ROBROOT is only software change. for many robots hardware need to be changed too (different counterbalance and possibly change oil quantities in main axes) but this is small robot and only needs $ROBROOT mod.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Yeah, I actually wrote a section about that, then looked at his robot model again -- it's a Sixx, and I'm reasonably sure those don't have counterbalances.

    However, I am somewhat concerned about the robot's gravity compensation -- I've never had to set up an Agilus in a non-standard mounting, but I have to assume that it needs accurate information about the relationship between gravity and $ROBROOT in order to properly account for payload effects. At low payloads and speeds, a ceiling-mounted robot that still thinks it's a floor-mounted robot might not throw torque errors, but as speeds and/or payloads approach maximum, I'm reasonably confident that the OP will start seeing issue.

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