Let me share my experience in transferring programs from CAM to a robot. These are not rules, but little tricks that can make solving problems a lot easier.
0. Transferring coordinates to CAM is much easier than moving something in the real world. I understand that this is obvious, but sometimes such a question arises. Try not to move/rotate the robot's virtual base coordinates.
1. Zeroing the robot: you can do this by the marks on the axes, but some robots come with a document that shows the values of the absolute encoders when setting the robot to zero when it was tuned at the factory calibration station. And if the robot is not physically damaged and has not been rebuilt after the factory, the best reset would be to bind the zeros of the joints to these values.
In this case, the mathematical kinematic model of the robot will more closely match the real one.
2. When you train a tool on a robot and you need accuracy in a certain area - tune the tool in this area in the plane in which you want to work. This way you can set up multiple tools for multiple workspaces. When setting up a tool, Cartesian coordinates are usually accurate and problems arise with tool OAT angle values. Therefore, this technique helps to get good positioning accuracy, provided that you do not change the orientation of the tool much in the area in which it was trained. Also, solutions like our TwinTool allow you to fine-tune the tool.
3. If you need to correctly position something in CAD / CAM, then you can measure the position of this object by the robot itself if it is correctly zeroed and the tool is trained. You just need to measure 3 points for any plane in which you want to work
4. Calibration of external axes is a challenge every time, especially if it is a 2 or 3-axis positioner and you need full cooperation. To set up these functions using a robot controller, the accuracy of the robot calibration and the accuracy of the TCP are extremely important.Positioner rotation axis coordinates can be found in the controller and transferred to RoboDK.
5. If you have access to a laser tracker, use it. In calibration tasks, the tracker is very useful and allows you to do many things faster and more accurately.
0. Transferring coordinates to CAM is much easier than moving something in the real world. I understand that this is obvious, but sometimes such a question arises. Try not to move/rotate the robot's virtual base coordinates.
1. Zeroing the robot: you can do this by the marks on the axes, but some robots come with a document that shows the values of the absolute encoders when setting the robot to zero when it was tuned at the factory calibration station. And if the robot is not physically damaged and has not been rebuilt after the factory, the best reset would be to bind the zeros of the joints to these values.
In this case, the mathematical kinematic model of the robot will more closely match the real one.
2. When you train a tool on a robot and you need accuracy in a certain area - tune the tool in this area in the plane in which you want to work. This way you can set up multiple tools for multiple workspaces. When setting up a tool, Cartesian coordinates are usually accurate and problems arise with tool OAT angle values. Therefore, this technique helps to get good positioning accuracy, provided that you do not change the orientation of the tool much in the area in which it was trained. Also, solutions like our TwinTool allow you to fine-tune the tool.
3. If you need to correctly position something in CAD / CAM, then you can measure the position of this object by the robot itself if it is correctly zeroed and the tool is trained. You just need to measure 3 points for any plane in which you want to work
4. Calibration of external axes is a challenge every time, especially if it is a 2 or 3-axis positioner and you need full cooperation. To set up these functions using a robot controller, the accuracy of the robot calibration and the accuracy of the TCP are extremely important.Positioner rotation axis coordinates can be found in the controller and transferred to RoboDK.
5. If you have access to a laser tracker, use it. In calibration tasks, the tracker is very useful and allows you to do many things faster and more accurately.