PowerMILLRobot工作坐标系.ppt

PowerMILL Robot-Robot Workplanes-,Robot Workplanes(frames),Robot World workplane,Robot 6th axis workplane,Tool workplane,Base workplane(Part Origin Workplane),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&TricksRefer to the Robot Setup documents available in the Help,Tips&Tricks,Tool workplane,Base workplane,Tips&TricksIn 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 conventionsEuler angles/Quaternion,Quaternion(Q1,Q2,Q3,Q4)is another method to describe rotations but there is only one“solution”,Rotation directions,XYZ static Rotations around the original workplane,Euler rotary convention(example),XYZ rotary Rotations around the new(transformed)workplane,Example:R1=+90 R2=+90 R3=+90,Y,Z,X,KUKA Robot-Define KUKA robot tool workplane-,Define tool workplane for a KUKA robot,71 mm,158.5 mm,120 mm,$TOOL=X 278.5,Y 0,Z 71,A 0,B-90,C 0,Robot 6th axisworkplane origin,ABB Robot-Define ABB robot tool workplane-,Define tool workplane for an ABB robot,171.2 mm,Tooldata=171.2,0,406.1,0.38268343,0,-0.92387953,0,406.1 mm,45,120 mm,Robot 6th axisworkplane origin,MOTOMAN Robot-Define MOTOMAN robot tool workplane-,Define tool workplane for a MOTOMAN robot,68 mm,TOOL=-68,0,207.5,180,-45,0,207.5 mm,45,175 mm,Tips&TricksFanuc Tool workplane calculation is similar to Motoman tool workplane calculation:They are both using the“XYZ static”Euler convention.,KAWASAKI Robot-Define KAWASAKI robot tool workplane-,Define tool workplane for a KAWASAKI robot,210 mm,TRANS(0,210,65,90,-90,0),65mm,TRANS(0,210,65,-90,90,180),or,Robot Workplanes Calculator-Spindle On Robot/Part On Table-,Base Workplane Coordinate System,Base Workplane(Part origin workplane),Tool Workplane Coordinate System,Tool Workplane(Tip of the current tool),Base and Tool Workplanes values based on the theoretical CAD model.These values are given for information about what should be found after teaching the real workplanes on the robot.,Thank You,