CHANGE HEAD ANGLE.

Les

I use my robot to mill plastic with a milling spindle attached to the end of the robot. I need to change the angle of the spindle as it does one of its cuts. I can do it by eye but that's very unscientific. How do I adjust the angle by a fixed amount in a particular direction for the TCP when milling in a pre-defined work object?

PerSvensson

Take a look at RelTool

Les

Thanks very much. I tried this and although this gives us an angular movement of the TCP... the angles are relative to the Tool whereas I want to do the TCP angular movement in the XYZ relative to the Work Object it is operating in. <?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

So as I cut my product, moving my TCP from A to B, I want to change the angle of my TCP relative to the XYZ orientation of the product not the Tool as the Tool may be in any orientation.

Is this possible?

 

Marcel

Hi <?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

A rotation with a workobject or with PDispOn doesn't seem to be a good idea because it rotates a coordinate system around just one position. You have to rotate at every robtarget. Maybe you could read the actual orientation of a robtarget with EulerZYX, ad the value for the angle and calculate the new orientation with OrientZYX. You could even put this in a function that would do the calculation like Offs() or RelTool() does.

Best regards

Marcel