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Wargo

RoboDrill

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Good Morning,

 

My shop just got two new RoboDrills with trunnions and robot arms. I'm working on dialing in a machine definition and post processor for them. I'm using a post for the bolt on trunnion for our VF6.

 

Something isn't cooperating though. I programmed a simple 3+2 operation to see if my A&B movements were correct, but it keeps posting out an A-90 when it shouldn't be moving A at all. I have the axis defined correctly in the machine definition. What else am I missing? The example below should only have a B35. and A should remain at 0.

 

The Fanuc trunnion is setup so that A is the platter, and B is the swing around Y. So for my machine defintion;

A rotates around Z and Y+ is 0.

B rotates around Y and Z+ is 0. 

 

*******

T1 M6
G0 G56 G90 X-.7192 Y-3.0061 A-90. B35. S1426 M3
G43 H1 Z8.5 M8

*******

 

 

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The kinematic arrangement is not the same for the VF6 versus the RoboDrill. That is the reason you're getting output that doesn't seem correct.

Depending on the vintage of your Post Processor, there is likely no logic in the Post Processor, to actually read the values from the Machine Definition. So the Rotary Parameter Settings that you are adjusting, simply have no effect on the output.

It is likely that your VF6 Post was built using some version of the Generic Fanuc 5X Mill Post. That Post Processor uses "variable switches" at the top of the Post, to setup all of the 5X Output.

You need to change the 'primary' and 'secondary' vector definitions:

#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = vecx  #Zero       
rotdir1$  = vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = vecx  #Direction   

#NOTE: Use of 'top_map' requires the dealer match the
#      above settings below.  These must match initial settings!!!
p_nut_restore    #Postblock, restores original axis settings 
      result = updgbl(rotaxis1$, "vecx") #Zero
      result = updgbl(rotdir1$, "vecy") #Direction
      result = updgbl(rotaxis2$, "vecz") #Zero
      result = updgbl(rotdir2$, "vecx")  #Direction

The results above, should give you "C" on "B". (Primary rotates on Z Axis. Secondary rotates on Y Axis)

Note that the "Primary/Secondary" relationship and nomenclature, exist regardless of what Address Label you assign to the Primary and Secondary.

# --------------------------------------------------------------------------
# 5 Axis Rotary Settings
# --------------------------------------------------------------------------
#Assign axis address
str_pri_axis : "A"
str_sec_axis : "B"
str_dum_axis : "C"

#Toolplane mapped to top angle position strings
str_n_a_axis : "A"
str_n_b_axis : "B"
str_n_c_axis : "C"

Also,

In your description above, if "Y+" is the "zero position" of your Primary (A Zero), then it would require a 90 Degree Rotation in the Primary, in order to make a vector alignment.

What I'm saying, is that your "zero position" for the Primary, should actually be either + or - X. That way, if you machine on the Right or Left Toolplane, your Post should simply output +90 or -90 for the B-Axis, without moving the Platter (A-Axis) at all. For that condition to be true, you've got to use the X-Axis vector as the Zero Position for the rotary.

You'll notice that I set it that way in the pri/sec vector definitions above.

 

Note that in the settings I used for PRI/SEC above, there is no "vecz" in the Primary. (This means you're rotating about that axis.)

There is also no 'vecy' in the Secondary. (That means you're rotating about Y.)

All you should have to worry about, is "+-" on the DIR parameters and the AXIS parameters.

These are the valid combinations:

OPTION #1:
#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = vecx  #Zero       
rotdir1$  = vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = vecx  #Direction   

OPTION #2:
#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = vecx  #Zero       
rotdir1$  = -vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = vecx  #Direction   

OPTION #3:
#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = -vecx  #Zero       
rotdir1$  = vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = vecx  #Direction   

OPTION #4:
#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = -vecx  #Zero       
rotdir1$  = -vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = vecx  #Direction   

OPTION #5:
#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = vecx  #Zero       
rotdir1$  = vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = -vecx  #Direction   

OPTION #6:
#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = vecx  #Zero       
rotdir1$  = -vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = -vecx  #Direction   

OPTION #7:
#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = -vecx  #Zero       
rotdir1$  = vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = -vecx  #Direction   

OPTION #8:
#Primary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis must be the XY plane
rotaxis1$ = -vecx  #Zero       
rotdir1$  = -vecy #Direction  

#Secondary axis angle description (in machine base terms)
#With nutating (mtype 3-5) the nutating axis and this plane normal
#are aligned to calculate the secondary angle 
rotaxis2$ = vecz  #Zero        
rotdir2$  = -vecx  #Direction   

 

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Chris,

That worked! Thank you. This is an older post, so it makes sense. 

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2 minutes ago, Wargo said:

Chris,

That worked! Thank you. This is an older post, so it makes sense. 

You mean Colin?

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  • Haha 1

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38 minutes ago, crazy^millman said:

You mean Colin?

It's easy to get confused when looking at that post code!

  • Haha 2

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