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+--- Thread: Curve Follow Project + Axis Optimisation + Linear Track Optimisation (/Thread-Curve-Follow-Project-Axis-Optimisation-Linear-Track-Optimisation)
Curve Follow Project + Axis Optimisation + Linear Track Optimisation-zet-jaro-06-16-2023
Hello guys,
is there any good tutorial regarding CFM and Axis Optimisation?
I have a case that, whatever Preset from axis optimisation I use, the robot makes always the same thing:
Starts and ends are in the attachment
Because of the application I use, it is not good to change orientation.
谢谢s in advance!
Kind regards,
Tom
RE: Curve Follow Project + Axis Optimisation + Linear Track Optimisation-Albert-06-16-2023
You can find some information about how to deal with external axes here:
//www.sinclairbody.com/doc/en/General.html#AxesOptimization
If you can share the RDK project and describe what you are trying to do we can help you better.
RE: Curve Follow Project + Axis Optimisation + Linear Track Optimisation-zet-jaro-06-17-2023
OK, thanks!
RE: Curve Follow Project + Axis Optimisation + Linear Track Optimisation-zet-jaro-06-18-2023
Ok, so here is my cell.
I have a curve "Test1 Filtered New New New New" and 1 CFP.
I am doing painting so I dont want the gun to rotate around TCP Z axis. IMHO, that should mean for CFP: Minimum tool orientation change and "Allow a tool Z rotation" = 0.
However, if I dont let him allow at least 10 Degs to rotate, he wont be able to successfully calculate the path. I wouldnt be a big issue but I see on the path that is going from up to down that the gun is rotated around 50Degs from the pose I wanted him.
Can you tell me what am I doing wrong?
谢谢you very much!
Kind regards,
Tom
RE: Curve Follow Project + Axis Optimisation + Linear Track Optimisation-zet-jaro-06-20-2023
Can you please take a look at the cell?
MANY THANKS!! :)
RE: Curve Follow Project + Axis Optimisation + Linear Track Optimisation-Sergei-06-22-2023
I have looked into your station.
The Fanuc P250i has non-standard kinematics.
You can limit the maximum allowable range of rotation around Z:
RE: Curve Follow Project + Axis Optimisation + Linear Track Optimisation-zet-jaro-06-27-2023
Hello Sergei,
thank you for your reply.
The solution you suggested is unfortunately not working. As you can see in the attached 2 photos, the X arrow from the TCP is not following the path. Any suggestions on this issue?
RE: Curve Follow Project + Axis Optimisation + Linear Track Optimisation-Sergei-06-27-2023
OK, if I understand correctly - you want to align the tool in the corners of this zig-zag path.
Please, try the following settings:
In addition, as the rail limit affects the robot's posture at the end of the track, additional points need to be added to the last part of the path:
If you want strictly follow the path with TCP - I'm not sure that it's possible for this station.
I attached a modified station.