Change ABB robot tool direction

[Anonymous]

Dear All:

My Powermill robot system include ABB robot, ABB positioner and SKS weldgun, with the default tool coordinate which the Z direction pointing up, please refer to the picture1. When I do the WAAM simulation, I wish the weldgun tip is always perpendicular to the substrate(picture2). I have tried to use tool axis control to fix Z direction, but everytime, the E1 axis which is supposed to be stay at 90 degree will rotate automatically to some angle. Is there any way I can achieve that? Thanks in advance.

BRs!

Wise

[minh.lenhat]

It will be much easier for us to take a look with the model that you want to weld.

Can you share the project file of that screenshot?

[Anonymous]

Thanks for your reply, but the project is super big, more than 50 MB including weldgun and robot models, I am not sure if I can upload such big project.

[minh.lenhat · Accepted solution]

Hi @Anonymous ,

You can zip the project with Robot MTD in that (if you can share data), then upload to any cloud and put the link in here for checking,

[Anonymous]

Thanks, I have found the solution in how to build a robot simulation manual.