Tool Frame Lab: Difference between revisions
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== '''What is a Tool Frame?''' == |
== '''What is a Tool Frame?''' == |
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The robot is a collection of axes that each have a |
The robot is a collection of axes that each have a specific range of motion and distance from one another. The processor calculates the position of the robot’s Tool Center Point (TCP) by the angle of each axis and the known distance to the next. |
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By default, FANUC robots calculate position in the real world by the center of the plate on the end of the last actuator. When you attach a tool, you must tell the robot where the effective end of the tool is, relative to the tool center plate. |
By default, FANUC robots calculate position in the real world by the center of the plate on the end of the last actuator. When you attach a tool, you must tell the robot where the effective end of the tool is, relative to the tool center plate. |
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This can be done through direct entry of measurements taken from the TCP but the FANUC software includes useful utilities for automatically calculating a new tool center point. |
This can be done through direct entry of measurements taken from the TCP but the FANUC software includes useful utilities for automatically calculating a new tool center point with minimal effort. |
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'''Frames:''' |
'''Frames:''' |
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|Tool |
|Tool |
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|Where the center |
|Where the center of the effective point on the tool is, relative to the tool plate. Optionally, orientation can be defined. |
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|[[User Frame Lab|User]] |
|[[User Frame Lab|User]] |
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|Where the work |
|Where the work area’s origin (zero) point is located, as well as the direction of each cartesian axis. |
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|[[File:Flat cup dim guide22.gif|thumb]] |
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|The useful end of the suction cup is actually about 1mm inside the cup, as it should be pressed down on the object slightly to make proper contact for negative pressure to develop. We take the 4.9mm measured, subtract the 1mm from it and get 3.9mm for our changes. |
|The useful end of the suction cup is actually about 1mm inside the cup, as it should be pressed down on the object slightly to make proper contact for negative pressure to develop. We take the 4.9mm measured, subtract the 1mm from it and get 3.9mm for our changes. |
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|[[File:Tool manual.png|thumb]] |
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|Select the Z value on screen and enter the new number you have come up with. Press enter to submit the change.<br /> |
|Select the Z value on screen and enter the new number you have come up with. Press enter to submit the change.<br /> |
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Latest revision as of 05:36, 10 August 2020
What is a Tool Frame?
The robot is a collection of axes that each have a specific range of motion and distance from one another. The processor calculates the position of the robot’s Tool Center Point (TCP) by the angle of each axis and the known distance to the next.
By default, FANUC robots calculate position in the real world by the center of the plate on the end of the last actuator. When you attach a tool, you must tell the robot where the effective end of the tool is, relative to the tool center plate.
This can be done through direct entry of measurements taken from the TCP but the FANUC software includes useful utilities for automatically calculating a new tool center point with minimal effort.
Frames:
Frame Type | Details |
Tool | Where the center of the effective point on the tool is, relative to the tool plate. Optionally, orientation can be defined. |
User | Where the work area’s origin (zero) point is located, as well as the direction of each cartesian axis. |
The Three-Point Method
The three-point method for tool frames is to teach the positional data of the effective end of the tool. This does not teach the orientation, but for many uses is sufficient.
The Direct-Entry Method
It may often be desirable to simply measure the tool's position relative to the center plate, and enter it manually. For instance, a tool may have interchangeable effectors - such as a milling bit - and the only difference from the last was length, which can be edited in the Z field.
In this lab, we will take the tool frame we just created and edit it to include a suction cup we will place on the end of the tool.