PowerMILLRobot工作坐标系.pptx

PowerMILL Robot- Robot Workplanes -Robot Workplanes (frames)Robot World workplaneSpecific to the Robot(differ according to the robot manufacturer)Robot 6th axis workplaneTool workplaneSet by the userBase workplane(Part Origin Workplane)Robot Workplanes (frames)When actually running a program on the robot, it is essential that the Position and Orientation of workplanes created on the robot correspond to those created in PowerMILL.Tips TricksRefer to the ‘Robot Setup’ documents available in the Help Tool workplaneBase workplaneTips TricksRobot Workplanes (frames)- Position Orientation checking -Tips TricksIn the majority of the cases (and assuming the output from PowerMILL is correct: right tool, right output workplane selected…), when there is a problem on a CNC Machine with the created program, the causes are: Incorrect Tool Length setting. Incorrect Part Origin Workplane defined or selected. When using a Robot, the problem are similar to a CNC Machine but instead of having a Tool Length, there is a Tool Workplane.?An easy way of checking if the Tool Workplane is correct is to rotate around it. With the majority of the robot, using the “Robot Teach Pendant” and the “Jog” commands, the user can choose around/along which workplane he wants the robot to move.?To check the Part Origin and Tool Workplanes orientation:Move the robot along each axis of the Tool Workplane. Do the same with the Part Origin Workplane. With this method, you ensure the orientation is similar to PowerMILL. ?To check the Tool Workplane position:Rotate the robot around each axis of the Tool Workplane. If the Tool Workplane is correct (set at the tip of the tool), the tool must rotate around its tool tip. (We can compare this to the RTCP function of a 5 axis machine tool when all axes rotates around the tool tip).Rotary conventionsEuler angles / Quaternion??Rotary?? Euler conventions(R1, R2, R3)??Rotations around the new (transformed) workplane axes????Static?? Euler conventions (R1, R2, R3)??