create path from curve (workpiece on robot)

jacekbranka

Hi,

how to create a path and curve if we have standalone tool (deburring tool) and robot handling product ( cup ) ? I have very complicated shape and my trajectory has to exist of curve. It is very easy to do if product is fixed and you handling tool (because tool has tcp point and on product you can easy create curve and then path). In other way its very difficult. Maybe it is possible to create somehow the tooldata for tool which is not attached to robot? If anybody has some idea how to create the trajextory for this application then I will be appreciate. I attached the picture to show the situation

 
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Henrik Berlin

As a quick test, I created a program with Machining PowerPac (MPP) with stationary tool, see attached movie. I was required to do some minor tuning since MPP is designed for robot-held tool. But the challenging part here is the path generation on the surface which worked nicely with MPP. I did not have cup-model so I only used a cylinder. Enjoy!

Note: The movie was created with the Xvid codec which you may need to install to watch the movie.

 

webwiz/772/MachiningFixTCP.zip

Henrik Berlin2009-10-21 09:55:55

jacekbranka

Thanks Henrik , this is what I want exactly. But still I don't know how to create path for station tool.... what kind of minor tuning you mean? I know there is also an option in workobject "robots hold workobject" but this is also not helpful for me< id="gwProxy" ="">< ="jsCall;" id="jsProxy" ="">

jacekbranka

Ok finally i got it Now i have fixed tool and move workobject and it looks pretty good. Now the problem is i cannot define userframe in workobject because it moves by robot so the only way to have reference point is TCP of fixed tool i believe< id="gwProxy" ="">< ="jsCall;" id="jsProxy" ="">

Anders S

Hi,

You can define the Objectframe of the workobject with three reference points.

Henrik Berlin

The workobject consists of two frames, user frame and object frame. When you are using movable coordinate system (i.e. fixed TCP), then the workbobject is attached to a mechanism. The user frame then coincides with the attachment point (which will be the tool0 of the robot in this case). The user frame parameters in RAPID is ignored, and only the object frame coordinates are used. See the extract from the RAPID reference manual about the wojbdata type below: 

 

ufprog

user frame programmed

Data type: bool

Defines whether or not a fixed user coordinate system is used:

• TRUE: Fixed user coordinate system.
  
• FALSE: Movable user coordinate system, i.e. coordinated external axes are used. Also to be used in a MultiMove system in semicoordinated or synchronized coordinated mode.

fixup

Hi Hernik,

 Can please upload this trivial examples.

 

Best regards

  Albert.

 

Henrik Berlin

Hi,

 

Here it is. The path is generated with Machining PowerPac with small adjustments. The accuracy of the path is a parameter of the Machining PowerPac and could be refined for use in a production program.

 

webwiz/772/MachiningTest.zip

fixup

Thanks very much Hernik.

 

Best regards

  Alberto