PowerMILLRobot工作坐標(biāo)系市公開課一等獎省賽課微課金獎?wù)n件

PowerMILLRobot-RobotWorkplanes-1/18RobotWorkplanes(frames)RobotWorldworkplaneRobot6thaxisworkplaneToolworkplaneBaseworkplane(PartOriginWorkplane)SpecifictotheRobot(differaccordingtotherobotmanufacturer)Setbytheuser2/18RobotWorkplanes(frames)Whenactuallyrunningaprogramontherobot,itisessentialthatthePositionandOrientationofworkplanescreatedontherobotcorrespondtothosecreatedinPowerMILL.Tips&TricksRefertothe‘RobotSetup’documentsavailableintheHelpTips&TricksToolworkplaneBaseworkplane3/18Tips&TricksInthemajorityofthecases(andassumingtheoutputfromPowerMILLiscorrect:righttool,rightoutputworkplaneselected…),whenthereisaproblemonaCNCMachinewiththecreatedprogram,thecausesare:IncorrectToolLengthsetting.IncorrectPartOriginWorkplanedefinedorselected.WhenusingaRobot,theproblemaresimilartoaCNCMachinebutinsteadofhavingaToolLength,thereisaToolWorkplane.

AneasywayofcheckingiftheToolWorkplaneiscorrectistorotatearoundit.Withthemajorityoftherobot,usingthe“RobotTeachPendant”andthe“Jog”commands,theusercanchoosearound/alongwhichworkplanehewantstherobottomove.

TocheckthePartOriginandToolWorkplanesorientation:MovetherobotalongeachaxisoftheToolWorkplane.DothesamewiththePartOriginWorkplane.Withthismethod,youensuretheorientationissimilartoPowerMILL.

TochecktheToolWorkplaneposition:RotatetherobotaroundeachaxisoftheToolWorkplane.IftheToolWorkplaneiscorrect(setatthetipofthetool),thetoolmustrotatearounditstooltip.(WecancomparethistotheRTCPfunctionofa5axismachinetoolwhenallaxesrotatesaroundthetooltip).RobotWorkplanes(frames)-Position&Orientationchecking-4/18RotaryconventionsEulerangles/QuaternionQuaternion

(Q1,Q2,Q3,Q4)isanothermethodtodescriberotationsbutthereisonlyone“solution”

?

Rotary

?Eulerconventions(R1,R2,R3)?

Rotationsaroundthenew(transformed)workplaneaxes

??

Static

?Euler

conventions(R1,R2,R3)?

Rotationsaroundtheoriginalworkplaneaxes

?XYZrXZXrXYZsXZXsXZYrXYXrXZYsXYXsYXZrYXYrYXZsYXYsYZXrYZYrYZXsYZYsZXYrZYZrZXYsZYZsZYXrZXZrZYXsZXZs5/18Rotationdirections…ZYXZYX6/18XYZstatic

RotationsaroundtheoriginalworkplaneEulerrotaryconvention(example)XYZrotary

Rotationsaroundthenew(transformed)workplaneExample:R1=+90°R2=+90°R3=+90°ZYXZYXYZXZYX7/18KUKARobot

-DefineKUKArobottoolworkplane-

8/18DefinetoolworkplaneforaKUKArobot71mm158.5mm120mm$TOOL={X278.5,Y0,Z71,A0,B-90,C0}Robot6thaxisworkplaneorigin9/18ABBRobot

-DefineABBrobottoolworkplane-10/18DefinetoolworkplaneforanABBrobot171.2mmTooldata=…[[171.2,0,406.1],[0.38268343,0,-0.92387953,0]],…406.1mm45°120mmRobot6thaxisworkplaneorigin11/18MOTOMANRobot

-DefineMOTOMANrobottoolworkplane-12/18DefinetoolworkplaneforaMOTOMANrobot68mmTOOL=-68,0,207.5,180,-45,0207.5mm45°175mm13/18Tips&TricksFanucToolworkplanecalculationissimilartoMotomantoolworkplanecalculation:Theyarebothusingthe“XYZstatic”Eulerconvention...14/18KAWASAKIRobot

-DefineKAWASAKIrobottoolworkplane-15/18DefinetoolworkplaneforaKAWASAKIrobot210mmTRANS(0,210,65,90,-90,0)65mmTRANS(0,210,65,-90,90,180)or16/18RobotWorkplanesCalculator-SpindleOnRobot/PartOnTable-BaseWorkplaneCoordinateSystemBaseWorkplane(Partoriginworkplane)ToolWorkplaneCoordinateSystemToolWorkplane(Tipofthecurrenttool)Base