Posts by MOM
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it works now - just tested
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As shown in post #7 there are two ways to do it and it seems that RoboDK is using the $AXIS_DIR[1] = -1
(like I do)
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It is important for me to know that there is no a strict right hand rule when defining joint axes and positive direction of angles.
There is a strict rule:
Taking picture from post #9 and draw the z-axis accordingly - you defined them wrong - again!
What do you actually want?
- assistance - then follow the suggestion
- follow your idea - this is the wrong place - look for your place
By the way:
I have no problems with knewbies as long as they follow my or rules or ask intelligent questions
Asking you for help or just want to bore everyone?
BTW:
I did forward and inverse kinematics of kuka robots
-no complaims
- no one got killed
-everything is still working as requested
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Is ther a chance to get feed back?
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It is important for me to know that there is no a strict right hand rule when defining joint axes and positive direction of angles.
did you read my post #7 and post #9?
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the rotation is around the rotation axis (which is actially the z- coordinate).
Axis1, axis4 and axis6 turning mathematical negative (e.g. a1 = 20° gives negative Y-value)
(A reason could simply be mounting gearbox upside down to have motor on top)
Axis2, axis3 and axis5 turning mathematical positive
You can find this in $Machine.dat checking for AXIS_DIR (it was also mentioned in one of my posts on the other of your thread)
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My ultimate goal is to rotate the flange about its y axis in its current position which is level with the ground.
If angle B = +/- 90° you would get different values for angles ABC. The same if your angle B = 180°
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do have an example to show the problem?
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It would be interesting just to know the TOOL_DATA[1] from TAP0MM() and from TAP150MM()
For my calculations I took the $TOOL from the different programs
Calculating Flange Frame:
0 ----------> 6 ----------> 7
0 -------------------------> 7
T06 (Flange Frame)
T67 ($TOOL from TAP0MM())
T07 (LIN values from line 17)
Taking the calculated Flange Frame and the $TOOL from TAP150MM() gives this result:
When I use no tool in Sprutcam all good, tip of the tool follows the toolpath. If I add any other (naming it again Tool 1) the simulation changes but Robot toolpath is always the same.
I would think when changing the tool sprutcam would give a different set of values. You probably only have to take them
If you make the calculation with data fro TAP150MM() you will get
and that is why the robot path ist the same (different Flange Frame)
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BAS(#VEL_PTP,20)
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$ means variable is a system variable like $POS_ACT or $BASE
In order to use $POS_ACT $BASE and $TOOL have to initialized
then you could use
PTP $POS_ACT (for a quick BCO)
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should be
PTP XHOME
declared in $config.dat
Or just copy the whole block starting with ;FOLD and as end line including ;ENDFOLD
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why should the Robot toolpath be different?
TAP0MM:
LIN {X 11.734, Y 140.168, Z 80.64, A 103.804, B 0, C 180} C_DIS
TAP150MM:
LIN {X 11.734, Y 140.168, Z 80.64, A 103.804, B 0, C 180} C_DIS
It is the same position and orientation
Using a different tool means that the flange position will be different.
In order to get a different position you need to calculate the flange position with your first tool and then
add the new tool to the calculated flange position - and it seems Sprutcam is doing that
Or did I miss something?
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