All on zero
Posts by ussr.inv
-
-
Who can help with the instructions MTOOL dynamic coordinate system.
The question is why when I create a dynamic UF2 with zero data along the X, Y, Z, Rx, Ry, Rz axes, it is created not in the center of the station, but somewhere to the side? On the screen you can see the base coordinates of MTOOL.
-
All thanks to "95devils". I understand what you write and I know very well about it. But the problem was that on an empty tool everything was zero, and the "Z" axis pointed up. By changing the FD61 parameter to "0", after rebooting on the instrument where it was zero everywhere, it began to show 90 degrees along the Py axis. Why this was done by the former owner of the robot remains a mystery to me. Well, to everyone else, note who is faced with such a problem.
-
With this basic orientation, the tool is not created correctly
-
I didn't ask the right question. Here is a picture on which CMOS.bin is a real robot in a factory. On this robot, the "Z" axis on the flange is directed upwards, but should be directed along the "X" axis as in the first picture. Where can I change the direction of the "Z" axis on a real robot. Let me remind you the image of CMOS.bin is taken from a real working robot and open MotoSim
-
Help me find the TCP that is indicated in the pictures. On my robot, the "Z" axis is not correctly directed upwards. And it should be like in the pictures. In what parameter on a real robot can I correct the directions of the "Z" axis
-
-
thank you all, I figured out the parameters S1CxG is not responsible for the external axis in my case
-
WHO KNOWS WHY WHEN THE STATION IS DISCHARGED ALONG THE AXIS (2) BY 360 DEGREES, THE FIRST CIRCLE PASSES AND ON THE SECOND CIRCLE THE STATION STOPS AND PROVIDES
ERROR 4208
HOW CAN IT BE BYPASSED TO SPIN THE STATION MANY TURNS
ROUGH EXAMPLE:
*LABEL
SFTON EX001 // initially 0 degrees
SMOVC +MOVJ // 0 degrees
ARCON
SMOVC V=SPEED +MOVJ // 90 degrees
SMOVC V=SPEED +MOVJ // 180 degrees station stops here on lap 2
SMOVC V=SPEED +MOVJ // 270 degrees
SMOVC V=SPEED +MOVJ // 360 degrees
ADD EX001 EX002 // + 360 degrees to EX001
JUMP *LABEL
-
Thanks to everyone, I solved the problem. Here is an example of who will face this.
MSHIFT PX005 BF PX004 PX003 we get the difference of two points
GETE D000 P005 (1) we get (X)
SET R000 D000
GETE D000 P005 (3) we get Z)
SET R001 D000
DIV R001 R000 divide
ATAN R002 R001 we find the tangent of the angle (a) and assign it to the positioner
SET D000 R002
SETE EX002 (2) D000
-
This is exactly the option that is needed because of the very crooked part! <<<Another option you could do would be to measure at both edges and compare the Z element of the detected position and write a routine to move the positioner different amounts in different directions until the detected Z values are within whatever tolerance you need. to call it enough flat>>>.
If I understand how to align it with respect to the rotation of the EX000 (2) positioner (by the difference between the two found points), I will rewrite it to the inclination of the EX000 (1) positioner
I know this example of work, but it does not suit me
-
Let's say I set the workpiece to be welded in such a position as in the picture. The flange is not in the horizon. I found two points at the ends of the flange by searching. Based on these two points, how do you get the station to align the flange horizontally?
-
Подскажите, пожалуйста, как сделать программу для выравнивания станции в горизонтальном положении прикосновением?
-