Re oriant planes for turn table E1 and E2

[OXIDO]

Hello,
Can someone help me get the proper method to reorient the planes so that the robot has the minimum movement and the turn table makes sure the tool is perpendicular to the floor? I have been trying to do this with all the old data on the forum, but I have been unable to get it right.

Thanks,
Ojas

[Johannes @ Robots in Architecture]

Hello,

Have you looked at that example?
It orients the TCP with the DKP so that it is vertical. If I understand your use-case correctly, it should be quite similar.

Best,
Johannes

[OXIDO]

I have already tried this. If you look at my cluster, you will find this definition inside... Also, the planes need to be perpendicular to the floor....

[Johannes @ Robots in Architecture]

Hello,

Here is an example that I believe gets close to what you want to achieve. It's very close to what I originally shared.
Some things to consider: You may need tweaks to get a nice continuous rotation, currently it will probably move back and forth on the top rotary axis. Also, I changed your tool values so that it is processing it from the side. If you face directly the robot, you run into tons of singularities.

Best,
Johannes

[OXIDO]

Hello Johannes,
We tested your program, it works well, but not for our user case. I have used your code to get the e1 and e2 in a position where they are correct, but I need help reorienting the plans to compensate for the movements of e1 and e2. You can find the problem in the Gh file attached. The E1 and E2 are correct..

Hope you can help...
Ojas

[Johannes @ Robots in Architecture]

Hello Ojas,

If the turntable is oriented correctly you do NOT need to compensate the position of the planes. The turntable will basically act like a mobile base coordinate system, i.e. it will move the planes around with it.
Make sure that you have calibrated your base in a way that it is linked to the turntable - so you will get XYZABC values that are in relation to the root of the turntable, not in relation to the root of the robot. If you calibrate such a base on top of the turntable, the values will be pretty small.
Finally, the turntable has to be a linked coordinate system. There should be an arrow going to the turntable in WorkVisual, if I remember correctly.

Best,
Johannes

[OXIDO]

Hello Johannes,
I understand this, but the rotation changes the X and Y axes, and the robot moves with the table. I need the tool to be in one place... I hope the video can explain the problem better

[OXIDO]

Hello Johannas,
This version of the program is close to what I need. Can you check the GH file and see if you can improve it?

Regards,
Ojas