Moved workpiece

The moved workpiece is a subfunction of kinematic 45. It allows the control of an industrial robot where the workpiece is attached to the flange by a standard processing program, whereas the (milling) tool has a fixed position in space.

The further the robot is away from the fixed tool, the greater the movement of the robot when changing the orientation ABC.

Moved workpiece 1:

This function is activated by the kinematic parameter HD33 of kinematic 45.

Tool set-up

The tool parameters for kinematic 45 can be directly entered in the parameters HD1-6 or they can be activated by a suitable tool by means of tool-head offsets when the tool is selected.

Tool-head offsets are added to the kinematic parameters (no concatenation takes place). If this function is used, it is recommended to set the parameters HD1-6 in the channel parameter list to “0”.

Parameterisation example of HD1-3 for a fixed tool:

Moved workpiece 2:
Tool offsets of the fixed position tool.

Example: Parameterisation of HD4-6 for a fixed tool:

Moved workpiece 3:
Procedure for defining the orientation with rotation sequence Z Y‘ X‘‘

Tool set-up

Offsets of the coordinate system into the workpiece now have the robot flange system as the lowest reference point for the moved workpiece.

Every further offset/rotation haves as usual.

Only one tool can be active at any one time. This is the machining tool of the moved workpiece. A gripper on the flange can be defined by an offset (e.g. #CS).

The parameterisation example below refers to the standard flange orientation (HD 31 = 0).

Flange system

Moved workpiece 4:
The orientation of the robot flange and the world

Flange system offset

Moved workpiece 5:
Offset from the flange to the black dot in the workpiece.