04-21-2020, 06:02 AM
Hi All,
I am using Robo-dk to generate milling files for a Motoman Up-130 robot with an XRC-2001. After I got the hang of creating a custom robot from Motoman's step files, with much trial and tribulation; i was able to get my simulation generating more or less usable files to run on my robot. At first a big hurdle for me was getting the tool positioned properly in reference to the milling frame. My simulation would show the operation performing well, then i would put it on the robot and the poor thing would go all exorcist cockeyed. I soon figured out this was because my TCP was not correctly set on my controller. I set the TCP correctly and all was well EXCEPT, if i have my Mill frame offset from the Zero of the z axis on the base frame or station frame by say 0mm on the simulation, it will offset by 1000mm in the real robot. I am almost positive my robot dimensions and angles are set properly, I think I've set the user frame on the controller properly but I am not sure. for the past four days I have been successfully ironing out issues consistently but I am very stuck on this, i would really appreciate some help. I am attaching my station and a photo of the robot running the same program.
thanks,
Andrew
I am using Robo-dk to generate milling files for a Motoman Up-130 robot with an XRC-2001. After I got the hang of creating a custom robot from Motoman's step files, with much trial and tribulation; i was able to get my simulation generating more or less usable files to run on my robot. At first a big hurdle for me was getting the tool positioned properly in reference to the milling frame. My simulation would show the operation performing well, then i would put it on the robot and the poor thing would go all exorcist cockeyed. I soon figured out this was because my TCP was not correctly set on my controller. I set the TCP correctly and all was well EXCEPT, if i have my Mill frame offset from the Zero of the z axis on the base frame or station frame by say 0mm on the simulation, it will offset by 1000mm in the real robot. I am almost positive my robot dimensions and angles are set properly, I think I've set the user frame on the controller properly but I am not sure. for the past four days I have been successfully ironing out issues consistently but I am very stuck on this, i would really appreciate some help. I am attaching my station and a photo of the robot running the same program.
thanks,
Andrew