As far as I know the post-processor of RDK generates only two frames for the controller/RoboGuide: ToolFrame_9 and UserFrame_9. (Correct me if I'm wrong).
I moved the Frame_L4 back to the Frame of the rail (Frame_Mechanism_Base), unfortunately the milling-curves still moved with the robot.
Good to know about that 'hidden feature', Thanks.
In the properties window of UFrame_9, the frame is 'attached' to the robot. In this properties window of the UFrame it was not possible to turn this option Off. I found out (via a forum) that this can be solved by modifying the extended axis. When an extended axis in group 1 is set as 'Auxiliary' then the User Frame is attached to the robot and cannot be changed. When the extended axis is set as an "integrated axis" it is possible to attach the User Frame to other items e.g. the Rail base. Changing this setting can be done after a Controlled Start of the controller: [Menu]->Maintenace etc.
Now the extended axis is set as an integrated axes and the user frame is attached to the rail-base, the User frame is stationary at the correct location. But, it ain't over until it's over:
When the rail is at position E1=0.0mm the green sphere at the TCP moves correctly with every move of the robot.
When the robot on the rail (E1) is jogged in positive direction, the green sphere moves the exact same distance in the negative direction.
The toolframe remains at the flange of the robot. I'm looking for a solution for this problem. Suggestions are very welcome.
I moved the Frame_L4 back to the Frame of the rail (Frame_Mechanism_Base), unfortunately the milling-curves still moved with the robot.
Good to know about that 'hidden feature', Thanks.
In the properties window of UFrame_9, the frame is 'attached' to the robot. In this properties window of the UFrame it was not possible to turn this option Off. I found out (via a forum) that this can be solved by modifying the extended axis. When an extended axis in group 1 is set as 'Auxiliary' then the User Frame is attached to the robot and cannot be changed. When the extended axis is set as an "integrated axis" it is possible to attach the User Frame to other items e.g. the Rail base. Changing this setting can be done after a Controlled Start of the controller: [Menu]->Maintenace etc.
Now the extended axis is set as an integrated axes and the user frame is attached to the rail-base, the User frame is stationary at the correct location. But, it ain't over until it's over:
When the rail is at position E1=0.0mm the green sphere at the TCP moves correctly with every move of the robot.
When the robot on the rail (E1) is jogged in positive direction, the green sphere moves the exact same distance in the negative direction.
The toolframe remains at the flange of the robot. I'm looking for a solution for this problem. Suggestions are very welcome.