Flange Rotation- Printable Version +- RoboDK Forum (//www.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN) + - - -论坛:通用RoboDK问题(//www.sinclairbody.com/forum/Forum-General-questions-about-RoboDK) +--- Thread: Flange Rotation (/Thread-Flange-Rotation) |
Flange Rotation-HerMer-08-06-2021 Hello there, is there a way to identify the Flange Rotation in relation to the Base of the Robot (KR C4 in my case). We do have a 3rd party tool installed and in our Home Postition (where the tool points to the ground...by eye) the Flange ist still a fair amount rotated. I do have the axes information, but this does not help me with determining the angle in relation to the base.... Thx in advance RE: Flange Rotation-Jeremy-08-06-2021 I'm not sure to understand what you mean by "Flange rotation". Can you attach a print screen or pictures to better illustrate your issue. Jeremy RE: Flange Rotation-HerMer-08-08-2021 Hello Jeremy and thanks for taking the time... ;) 我附上的ached a screenshot of the virtual situation. This is theactual home positionof our KR30 at the moment. As you can see the flange is rotated a bit (about 18 degrees). In the real world there is no such rotation of the tool (laser welding head), because the mount has been rotated in such a way (by 3rd party before delivery) that the laser head points straight to the ground. My Question is: How can I determine the exact amount of degrees that the flange is rotated in relation to the base of the robot, so that I can adapt the rotation of the Geometry (welding head) to fit our real world situation. Of course I could take a protractor and measure the offset angle by hand but I would prefer to know the exact numerical value. RE: Flange Rotation-Jeremy-08-09-2021 Maybe it's because it's Monday, but I'm not sure I'm getting it. But anyway, here's some piece of information. Your ~18 deg on the home position, you mean on the real robot? Because I looked in our library and there is no rotation of the flange. For the simulation phase, I generally position the tool using the flange bolt pattern. That gives you a good enough estimation in most cases. Then you do a TCP definition//www.sinclairbody.com/doc/en/General.html#CalibrateTCP https://www.youtube.com/playlist?list=PLjiA6TvRACQd8Zju_r_VSL7LBNEmBE57E It will position the TCP at the real place so that your generated programs are accurately positioned. Jeremy |