[Bob Hedrick]

For additive manufacturing applications with a 6-axis robot + positioner, it is desirable to keep the torch vertical. The robot axes carry out torch translation and the positioner handles the orientation of the part relative to the torch. I cannot get this output out of RoboDK. I followed a previously posted example but it didn't work. I have attached a sample file. Any help would be appreciated.


  Spin The Positioner.rdk (Size: 2.5 MB / Downloads: 11)

[Albert]

In the example you shared the torch remains vertical. You properly configured the Smart Optimization options for this purpose (keeping the target reference using "use ref"). You could reduce the Priority (relative values) to 10 instead of 100 to make the Coordinate constrain more important.

However, I noticed that the path normals have small deviations that make the turntable move a lot. Is this intended? I believe it would be easier if you had all normals perpendicular to the surface so that the Tool Z axis is always [0,0,1].