06-02-2022, 07:12 PM
(This post was last modified: 06-02-2022, 07:27 PM bybalazs.szabo58.)
As title says, when I Synchronize the 1 rotative axis (turntable) with my robot the robot Base will move to the Flange of the turntable.
Here you can see a reference frame named "GLOBAL" in respect to robot base when the turntable is not synchronized, so the RF GLOBAL and the base is at the bottom of the robot.
ATTACHMENT 1
As soon as I synchronize my turntable with my robot as an external axis, this happens on the robot panel:
ATTACHMENT 2
This is the distance between the bottom of the robot and the flange of the turntable.
The more annoying part comes when I try to generate program with the synchronized turntable. A simple RDK program with a single move and a SetFrame instruction looks like this:
ATTACHMENT 3
The target of the JMOVE is in the GLOBAL RF, still when generating the G-Code it gives GLOBAL RF position with respect to turntable RF and not target position with respect to GLOBAL RF.
还注意到the problem only occurs with turntables. My robot is on a linear rail and it could be synchronized without any problem.
Here you can see a reference frame named "GLOBAL" in respect to robot base when the turntable is not synchronized, so the RF GLOBAL and the base is at the bottom of the robot.
ATTACHMENT 1
As soon as I synchronize my turntable with my robot as an external axis, this happens on the robot panel:
ATTACHMENT 2
This is the distance between the bottom of the robot and the flange of the turntable.
The more annoying part comes when I try to generate program with the synchronized turntable. A simple RDK program with a single move and a SetFrame instruction looks like this:
ATTACHMENT 3
The target of the JMOVE is in the GLOBAL RF, still when generating the G-Code it gives GLOBAL RF position with respect to turntable RF and not target position with respect to GLOBAL RF.
还注意到the problem only occurs with turntables. My robot is on a linear rail and it could be synchronized without any problem.