06-14-2023, 03:02 PM
On my station, I have a small robot arm with a L-shaped tool and a cylindrical part with a C shaped curve.
The parameter of my tool orientation is 30mm in x-axis and 150mm in z-axis and 90 degree in second rotation. The cylinder is laid in a horizontal direction with a curve on the 1/3 side of the part.
When I use follow curve util, the tool orientation is not pointing out the correct direction. In short, neither the TRF's x nor y axis does not follow the orientation of the path as robot moves through the path.
I used Tool Orientation Follows Path algorithm with Don't follow orientation on sharp corners option.
I tried to use Allow a tool Z rotation of +/- 0 deg by steps of 20 deg, but somehow it does not allow me to recognize the start position of the path. So I kept at 180 deg.
Are there any setting I can try out to make my x axis tool orientation to follow the path?
*The reference frame is in the center of the bottom side of the cylinder, z-axis pointing towards top side of the cylinder.
The parameter of my tool orientation is 30mm in x-axis and 150mm in z-axis and 90 degree in second rotation. The cylinder is laid in a horizontal direction with a curve on the 1/3 side of the part.
When I use follow curve util, the tool orientation is not pointing out the correct direction. In short, neither the TRF's x nor y axis does not follow the orientation of the path as robot moves through the path.
I used Tool Orientation Follows Path algorithm with Don't follow orientation on sharp corners option.
I tried to use Allow a tool Z rotation of +/- 0 deg by steps of 20 deg, but somehow it does not allow me to recognize the start position of the path. So I kept at 180 deg.
Are there any setting I can try out to make my x axis tool orientation to follow the path?
*The reference frame is in the center of the bottom side of the cylinder, z-axis pointing towards top side of the cylinder.