Toolpath creation with external rotary axis

[MaxMe]

Hello! I was wondering if there is any new docs or videos running through toolpath setup for an external turntable? I would like to use a turntable to control the x axis whilst the robot focuses on z and y. Does this require significant plane editing or is there a tool that is more plug and play?

Thank you!
Max.

[Johannes @ Robots in Architecture]

Good Morning Max,

There are some examples in the tutorial and support section, but could you confirm what you are trying to do?
Because a turntable rotates. If you want to have a coordinate axis "supported" then you would probably be using a linear axis/track/rail.

Best,
Johannes

[MaxMe]

Hi Johannes,

Apologies, I worded my intent poorly. However since posting this, I found an earlier script of yours that solved my issue!

Thank you!

[Johannes @ Robots in Architecture]

Great that you got it to work!
Best,
Johannes

[MaxMe]

Hi Johannes!

I have an update. The script I found for the turntable is simulating very nicely, and seems to have no problems in grasshopper. However when run on our robot, the TCP seems to be following the rotation of the turntable, instead of keeping its intended orientation with the turntable moving beneath it. Would you have any ideas as to why this is happening?

Thanks!

Max

[Johannes @ Robots in Architecture]

Hello Max,

So the intended behavior in KUKA|prc is that you calibrate an offset base (not a regular base) which is then kinematically linked with the robot. So when you go into base movement mode, switch to the E1 and move it, the robot should move along with it (assuming an offset base is selected).

From your description it sounds like this is happening, which would be good. But is there a mismatch between simulation and reality?

Best,
Johannes

[MaxMe]

Hi Johannes!

Apologies for the delayed response.

Our intention is that the robot stays in world space whilst the base moves below it, so the robot does not follow the base. It is simulating how I would like it to, with the base moving separate to the robot, but in reality the robot is moving with the base. I will attach the GH if its easier to see what I would like. I would assume that I have also implemented your rotational axis script incorrectly, so it would be great to see any feedback on the script.


But yes, there appears to be a mismatch between simulation and reality.

Thank you and kind regards,

Max

[Johannes @ Robots in Architecture]

Hello,

My apologies for the late reply, we currently have the ROB|ARCH conference going on in Toronto.
In the file you provided I was missing a few plugins, but I looked at the settings and you are using base 8 with all values at 0. Did you set base 8 as an offset base?
Can you check how base 8 is set in the config.dat file on the robot?

And regarding my previous post, is the turntable synchronizing properly?

Best,
Johannes