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Trafo_4axis_Palletizer

mandra
2016-03-30
2016-04-14
  • mandra - 2016-03-30

    Dear All,

    Right now I am trying to build an arm using 4 axis palletizer. the problem is when I just make a simple cnc (g92 x0 y0 z0 c0) the error mention T4AP_Result_OutofWorkingSpace. For the sequence of the tranformation I used CNC->SMCI->Trafo_4axis_Palletizer. And for the SMC_TrafoConfig_4AxisPalletizer I defined at var block like this : smc_4axis_detail : SMC_TrafoConfig_4AxisPalletizer := (d1:=-100,d5:=-200,a1:=50,a2:=750,a3:=500,a4:=50);. I already have try to change the value of d_i to positive but the result still the same. Do you have any enlightment for these newbie ? It will be much better if anyone have simple example of 4 axis palletizer.

    Thanks before

    Regard,

    Super Newbie

    NB : I add my rough drawing of my robot joint and arm. Hope it will help.

    IMG: Screenshot_3.jpg

     
  • mandra - 2016-04-14

    Finally found the answer. We must provide the CNC coordinate correctly. And the next problem is, the output of the Trafo_4Axis_palletizer are in degrees. How do we can handle with this ? I mean what should we do after we know the degrees ? Is there any additional function block to convert it become usable to the Axis ? And why the output of the dQ0 and dQ3 is the same ? the cnc is a simple one :

    N000 G92 x-500 y0 z0
    N010 G01 X500 Y100 z100 F100 E500 E-500

    Thanks for your kind attention.

     

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