Measuring a rotary axis with an active kinematic

This example shows the measurement of a round table by a 6-axis articulated robot.

Measuring a round table with a 6-axis articulated robot

When pre-positioning within the cycle, only linear axes and rotary axes involved in a complete kinematic transformation may be moved. Since the robot only has rotary axes, it must be integrated in a kinematic transformation.

During the measurement, the measured round axis may not be involved in a kinematic transformation.

The measured round table rotates fixed about the Z axis. Since the measured rotary axis is fixed, the calibration sphere must be mounted so that it co-rotates with the round table. In this case, select a position on the round table as far away as possible from the centre of rotation.

The following parameter settings are conceivable for the successful execution of the cycle.

It is expected that the measured swivel axis rotates about the Z axis: @P91=0, @P92=0, @P93=1
Pre-positioning is to take place in manual mode: @P90=1
The index of the measured rotary axis has the value 6: @P89=6
The diameter of the calibration sphere is 50 mm: @P87=50
The sphere should be measured with a safety clearance of 30 mm: @P13=50
Measurement movements in Z direction should have a length of 30 mm. @P6=30
To ensure the calibration sphere is touched in horizontal measurement movements, the crossover range is set to 10mm: @P33=10

This results in the following cycle call:

#TRAFO ON

G90

G1 C0

G1 X1300 Y100 Z315

L CYCLE [NAME=SysMeasRotAx.ecy \

@P6 = 30 \

@P13 = 50 \

@P33 = 10 \

@P87 = 50 \

@P89 = 6 \

@P90 = 1 \

@P91 = 0 \

@P92 = 0 \

@P93 = 1 \

]

#TRAFO OFF

M30

Pre-positioning between measurements takes place in manual mode with an active kinematic transformation. It is important that the orientation of the touch probe is not changed. Only the X, Y and Z coordinates may be changed in the current programming coordinate system.