To all who have provided excellent information - thank you! Your explanations will (i'm sure) help immensely, once I have time to process them.
If you ever find yourself in the sleepy Peak District of the UK, I'll buy you a drink
To all who have provided excellent information - thank you! Your explanations will (i'm sure) help immensely, once I have time to process them.
If you ever find yourself in the sleepy Peak District of the UK, I'll buy you a drink
Hi All, Me again.
Thanks pdl for your help, but unfortunately we're still struggling!
When using the tool offset, we got very strange results, suggesting that the robot is not using the coordinate system we think it is. When we define a PR, we get the following screen, e.g.
I think I have a misunderstanding of exactly what is what.
UF:0 - This means I am using the zeroth User Frame, which is the same as the world frame by default.
UT:1 - This means I am using the first Tool Frame, which has been defined, or may be at the centre of the mounting plate if not.
How can a point with a unique definition of X, Y, Z, W, P, R be in two frames at once as the frames do not have the same origin or orientation? Which frame is actually being used here and why are two defined?
CONF:FT - What does this mean? I cannot find a definition in the manual!
I'm really struggling to understand why the robot can not simply move in the tool coordinate system. We've rotated the tool by 20 degrees, so the tool frame should have rotated with it. Therefore, a programmed x-movement specified in the tool frame should still be along the tool x-axis, but in our case it appears to remain along the world x-axis. Surely the point of the Tool Frame is that when rotation is needed, the programmed x,y,and z instructions rotate with the tool and the exact program can be run again a a different angle? Why can we not just tell the robot to move in the Tool Frame (if we can - how do we do this as what we are trying is not working?
In terms that a newbie like me might understand, what is the tool offset actually doing, and why can't I simply move the robot in the x-direction of the tool? If I can do the latter without using tool offset, how do I do it?!
Many Thanks again for your help (and apologies again for the stupid questions).
Thanks for the quick response - we'll give it a go and I'll be back tomorrow with news!
Hi All,
Newbie question, so I hope you don't mind and thank you in advance for your help.
We are using a teach pendant to program a 200ic robot. On the end we have a simple spray gun, the TCP for which is offset 150 mm to the left of the centre of the attachment plate. We are trying to spray paint a spinning hemisphere directly in front of the robot.
Using the TP I can easily program forward/back, left/right, up/down movements when the tool coordinate system is pointing in exactly the same direction as the world Coordinate System. However, to avoid singularities I have to angle the spray gun to spray at an angle of around 20 degrees to the WCS i.e. slightly from the side. I angle the spray gun by defining a change in (ya)W in the taught positions. However, I now need my x and y translations to have rotated with the Tool coordinate system, but when I program the same simple orthogonal movements as before my x, y and z translations are still moving in the WCS directions as before (or I suppose the User Frame as this is still defined as matching the WCS). They have not rotated with the Tool System as I would expect.
I don't understand why the program movements have not rotated with W. I have defined the Tool Coordinate system as the relevant system but it appears to still be using WCS or a related system. I do not want to redefine the User coordinate system as every time I add or subtract yaw from the spray gun I would have to redefine the UCS.
On a kawasaki I simply program in AS and it takes 2 minutes, but using the TP on the Fanuc I'm pulling my hair out as it strikes me I'm missing something very simple.
How do I ensure that the robot uses Tool coordinates? The manual does not cover this, describing only user and world. When I teach points I can only teach in User or world. Is there a way of linking a user frame to the tool frame so that it automatically rotates with the tool head at all times
Thanks