Issues with side (NxT) approach

jnuhhb · (This post was last modified: 03-19-2025, 10:19 PM by Albert.)

I use robot "hold a object and follow path" function and my goal is to let robot hold object and go through a pipe shape hole, let the blade deal with inner corner at the end of pipe. To make this happen, I use normal to let robot go through the hole and turn 6th axis 360 degree, but blade didn't contact to the inner corner of the pipe. To make the pipe move I add a Side in setting to make the pipe closer to blade.

Preview path is good, however I simulate all path, robot move randomly and didn't follow the preview green path line and I check robot path. The random move matches the yellow TCP path line, only one operation different is add the Side(NxT)path , before the operation,yellow line is good but green line not What I want . After the operation the green line is exactly what I want but the yellow line is a mess, please help me solve the problem.

**Albert** · 03-19-2025, 10:15 PM

Can you provide us with a sample project that shows this issue?

jnuhhb · 03-24-2025, 03:50 AM

I make the file indiviual for each case

jnuhhb · (This post was last modified: 03-25-2025, 09:40 AM by Albert.)

It took me lot of time to simplify. Now I provided the file in reply, thanks for your help.

**Albert** · 03-25-2025, 09:52 AM

I don't understand the issue but I see that some best practices are not used for a Remote TCP setup. I recommend you to change the following settings:

Change the coordinate system to make the Z axis along the cutting direction (in your example I used Frame 6)
Set the algorithm to Robot holds object (try to avoid the additional option to follow the path, I believe it is not needed in your case).
Start by setting the path to tool offset to 0 by clicking on Teach.
If possible, reduce the Allow a tool Z rotation of +/- to 0 deg.

See the attached sample project.

jnuhhb · (This post was last modified: 03-31-2025, 06:56 AM by Albert.)

Thank for your reply, I know you try to help me to solve the problem in another way. (BTW I know that too)
your method is great but unfortunately , if I use your path that means My blade need to be like a drill to make 360 degree contact to object , but here is the problem , the shape of the blade is like a saw , it can only provide one direction cutting . That's why I try this method and I found the bug ,so please help me with the problem.
Thanks a lot

**Albert** · 03-31-2025, 07:00 AM

In this case you can simply impose the Robot holds object & follows path algorithm and increase the tolerance to allow a tool Z rotation to see if the path is feasible. Since you don't want to alter the Z rotation you can then set this value back to zero and adjust the path to tool offset to make the path feasible without changing the orientation of the cut.

jnuhhb · 03-31-2025, 09:15 AM

(03-31-2025, 07:00 AM)Albert Wrote: In this case you can simply impose the Robot holds object & follows path algorithm and increase the tolerance to allow a tool Z rotation to see if the path is feasible. Since you don't want to alter the Z rotation you can then set this value back to zero and adjust the path to tool offset to make the path feasible without changing the orientation of the cut.

Can you explain how you help me solve my problem? I don't get it .
You change reference setting and chenge the direction of the object , but it seens no different .
My OK_Path file has already make the 360 degree rotation prefect.
I can't tell the difference between your file with mine , can you explain more ?
The most important of all , if my blade move like your path ,my blade will hit into the object.
Thanks for your reply .