I am trying to program the tool position in my S52 controller. I go through auxillary data settings, and attempt to program my tool coordinates. This does not seem to change where my robot is recogonizing the tool position. The function is listed in the controller operation manual, but not really a procedure. I am attaching a couple pictures of the TP and a picture just to make sure that my understanding of the coordinate system is correct. I am unsure about the meaning of OAT coordinates. Maybe Euler's coordinate transformations? If that is correct would my O angle be 90 degree > rotated 90 degree about the x-axis? Please and thanks!
Creating Tool Position S52 Controller
- mike.stotts
- Thread is Unresolved
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TP 1
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TP 2
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Regarding OAT using left hand rule as follows:
O=>RZ followed by A=>RY followed by T=>RZ
So from the centre of JT6 (assuming JT6 is at 0 degrees and Tool is NULL) if you stand behind the robot looking outwards in the direction to JT6.
Then your TCP would be in the middle of JT6 with vectors:
X+ direction would to the right.
Y+ direction would be down to the floor.
Z+ direction would be directly in front of you.
Looking at your first image:
1. Z+ value would be 539
2. Y+ value would be 481
3. X+ value - you have not included so I assume this is central to the middle of JT6 which would be 0.
Your spot weld gun Z+ axis would usually be in line with the fixed tip (ie from your image pointing up) and the yoke usually points in the Y+ direction.
This means X+ would be pointing to the right.
In usual terms this would just mean a simple RX by +90 degrees in order to set the OAT, however, due to the OAT being calculated by RZ/RY/RZ you could have either:
O = -90
A = 90
T = 90
O = 90
A = -90
T = -90
Those values you can directly enter into the fields in TP 1 image.
Therefore try:
X = 0
Y = 481
Z = 539
O = -90
A = 90
T = 90
With a servo weld gun, you also need to set the moving tip direction which in your case would be 'plus' direction.
TP2 image is the auto tool setting function, which requires you to move the robot to various postures around a fixed point and recording the postures (making sure you have at least 45 degree difference between postures).
This can then calculate the TCP (XYZ or XYZOAT) values for you depending on which option you select.
1. XYZ (requires 4 positions) - Generally used for 4 axis (palletizing) robots.
2. XYZOAT (requires 6 positions) - Generally used for 6 axis robots.
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