11-19-2021, 11:45 PM
Thanks Jeremy.
I built a tool in grasshopper to generate the paths.
Okay so by adding the extra point it will act as a trigger for the external axis to start turning? Because I want the arm and the head of the tool to move together (I understand 1mm is fine and will do the job) to follow the path.
As for how the tool unwinds, the hardware spins infinitely, the external axis is actually mounted to the tip of the tool and spins independently. That is why I wanted the robot and the tool to run the current path and kinematic positions produced through minimum tool orientation change and then run the external mechanism on a separate job. Could a better option be to write a script to use onAction and send I/O signals to a PLC which I am already using to run a separate system on the tool?
I built a tool in grasshopper to generate the paths.
Okay so by adding the extra point it will act as a trigger for the external axis to start turning? Because I want the arm and the head of the tool to move together (I understand 1mm is fine and will do the job) to follow the path.
As for how the tool unwinds, the hardware spins infinitely, the external axis is actually mounted to the tip of the tool and spins independently. That is why I wanted the robot and the tool to run the current path and kinematic positions produced through minimum tool orientation change and then run the external mechanism on a separate job. Could a better option be to write a script to use onAction and send I/O signals to a PLC which I am already using to run a separate system on the tool?