CHANGE HEAD ANGLE.

Les
Les ✭
in RobotStudio
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?

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  • PerSvensson
    PerSvensson ✭✭✭


    Take a look at RelTool
    Per Svensson
    Robotics and Vision Specialist
    Consat Engineering
  • Les
    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
    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

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