https://forge.codesys.com/forge/talk/Motion/thread/c705fe5713/2020-02-27T18:36:48.038000ZRecent posts to Trafo_4axis_Palletizer2020-02-27T18:36:48.038000Z2020-02-27T18:36:48.038000Zmandrahttps://forge.codesys.com/u/mandra/https://forge.codesys.comce2c5607c9dd07df0e7defdd62f93e8f9363cb4b

<div class="markdown_content"><p>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 :</p> <p>N000 G92 x-500 y0 z0<br/> N010 G01 X500 Y100 z100 F100 E500 E-500</p> <p>Thanks for your kind attention.</p></div>

2020-02-27T18:36:46.904000Z2020-02-27T18:36:46.904000Zmandrahttps://forge.codesys.com/u/mandra/https://forge.codesys.com662965c54c3666f01f169bead71c0203db4ede72

<div class="markdown_content"><p>Dear All,</p> <p>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-&gt;SMCI-&gt;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.</p> <p>Thanks before </p> <p>Regard,</p> <p>Super Newbie </p> <p>NB : I add my rough drawing of my robot joint and arm. Hope it will help.</p> <p><img alt="IMG: Screenshot_3.jpg" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=1751"/></p></div>