After finally getting a simple toolpath to work from Fusion360 to RoboDK using the plugins, the rotation of the turntable is forcing a rotation of the spindle. Changing the reference from "Part Base" which is bound to the synchronized mechanism flange, to "(Origin) Robot Base 2" which is in the same position as "Part Base," but not bound to the mechanism flange (it doesn't rotate with turntable) does not seem to help.
Putting "Allow a tool Z rotation of +/- (0) gives me the error that the robot cannot reach all targets.
Selecting minimum tool orientation change and teaching the robot position does not resolve it.
Selecting "Move External Axis" or "Prioritize External Axis" did not resolve it.
When I had a "working" program (got a green check mark, but the robot was rotating the head around and crashing through the table and part), I clicked "Keep pos." to try and lock the head down close to the robot. Got the red X [The Robot cannot reach all targets in the path], then unclicked "keep pos." and now even the "working" program I just had is giving me the same red X cannot reach targets error. All I did was check, then uncheck keep pos. What else does it think changed?
All I am trying to do is position the head on the -Y side of the part at a 90deg angle, and allow the turntable to rotate around so the spindle only needs to raise and lower in Robot Base ref Z.
*Update*
I made an example reference to try and better communicate the problem. I hit my limit of posts today, and can only attach 7 items.
Attached you will see the Cartesian coordinates change in the X, Y, and A, with just the rotation of the turntable. It behaves like my reference frame with respect to robot base is the turntable flange. It would make sense if that were the case. But no matter what I make my reference frame, the turntable flange reference overrides it. This behavior manifests in the program also, causing the toolhead to rotate about in ludicrous directions, causing collisions.
Whatever else you need from me to better communicate this issue, please let me know. I have been tackling this issue for over a month now, with no support. I just want to move forward. We have a professional license, and have paid for 1 year of maintenance. I have called, emailed, and posted in the forum, and utilized the "help>Request Support" option in RoboDK.
Thank you,
- Peter Shryock, (Jon Shryock, LLC / Shryock Fabrications)
Putting "Allow a tool Z rotation of +/- (0) gives me the error that the robot cannot reach all targets.
Selecting minimum tool orientation change and teaching the robot position does not resolve it.
Selecting "Move External Axis" or "Prioritize External Axis" did not resolve it.
When I had a "working" program (got a green check mark, but the robot was rotating the head around and crashing through the table and part), I clicked "Keep pos." to try and lock the head down close to the robot. Got the red X [The Robot cannot reach all targets in the path], then unclicked "keep pos." and now even the "working" program I just had is giving me the same red X cannot reach targets error. All I did was check, then uncheck keep pos. What else does it think changed?
All I am trying to do is position the head on the -Y side of the part at a 90deg angle, and allow the turntable to rotate around so the spindle only needs to raise and lower in Robot Base ref Z.
*Update*
I made an example reference to try and better communicate the problem. I hit my limit of posts today, and can only attach 7 items.
Attached you will see the Cartesian coordinates change in the X, Y, and A, with just the rotation of the turntable. It behaves like my reference frame with respect to robot base is the turntable flange. It would make sense if that were the case. But no matter what I make my reference frame, the turntable flange reference overrides it. This behavior manifests in the program also, causing the toolhead to rotate about in ludicrous directions, causing collisions.
Whatever else you need from me to better communicate this issue, please let me know. I have been tackling this issue for over a month now, with no support. I just want to move forward. We have a professional license, and have paid for 1 year of maintenance. I have called, emailed, and posted in the forum, and utilized the "help>Request Support" option in RoboDK.
Thank you,
- Peter Shryock, (Jon Shryock, LLC / Shryock Fabrications)