PowerMILLRobot工作坐标系研究报告.pptxVIP

PowerMILL Robot - Robot Workplanes - Robot Workplanes (frames) Robot Workplanes (frames) When actually running a program on the robot, it is essential that the Position and Orientation of workplanes created on the robot correspond to those created in PowerMILL. Tips Tricks Refer to the ‘Robot Setup’ documents available in the Help Tips Tricks Tool workplane Base workplane Tips Tricks In the majority of the cases (and assuming the output from PowerMILL is correct: right tool, right output workplane selected…), when there is a problem on a CNC Machine with the created program, the causes are: Incorrect Tool Length setting. Incorrect Part Origin Workplane defined or selected. When using a Robot, the problem are similar to a CNC Machine but instead of having a Tool Length, there is a Tool Workplane. ? An easy way of checking if the Tool Workplane is correct is to rotate around it. With the majority of the robot, using the “Robot Teach Pendant” and the “Jog” commands, the user can choose around/along which workplane he wants the robot to move. ? To check the Part Origin and Tool Workplanes orientation: Move the robot along each axis of the Tool Workplane. Do the same with the Part Origin Workplane. With this method, you ensure the orientation is similar to PowerMILL. ? To check the Tool Workplane position: Rotate the robot around each axis of the Tool Workplane. If the Tool Workplane is correct (set at the tip of the tool), the tool must rotate around its tool tip. (We can compare this to the RTCP function of a 5 axis machine tool when all axes rotates around the tool tip). Robot Workplanes (frames) - Position Orientation checking - Rotary conventions Euler angles / Quaternion Quaternion (Q1, Q2, Q3, Q4) is another method to describe rotations but there is only one “solution” ? ??Rotary?? Euler conventions (R1, R2, R3) ??Rotations around the new (transformed) workplane axes?? ??Static?? Euler conventions (R1, R2, R3) ??Rotations around the original workplane a