Measuring a rotary axis with an active kinematic

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

During 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 50mm: @P87 = 50
• The sphere is to be measured with a security distance of 30mm: @P13 = 50
• Measurement movements in Z direction should have a length of 30mm. @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:

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.