Tool Frame Lab: Difference between revisions
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|We start by taking a measurement from a known fixed point to our previously taught tool tip. Since these are digital calipers, we need only take it to that point and then zero it out. This creates a reference point we can measure from. |
|We start by taking a measurement from a known fixed point to our previously taught tool tip. Since these are digital calipers, we need only take it to that point and then zero it out. This creates a reference point we can measure from. |
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Revision as of 22:54, 1 July 2019
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 FANUC includes useful utilities for automatically calculating a new tool center point. We will detail the 3-point method in this lab.
Frames:
Frame Type | Details |
Tool | Where the center of the effective point on the tool is, relative to the tool plate. |
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.
We start by taking a measurement from a known fixed point to our previously taught tool tip. Since these are digital calipers, we need only take it to that point and then zero it out. This creates a reference point we can measure from. | |
Once it is zeroed out, we add our suction cup. This cup sticks out a bit from the original brass piece by |