PM Robot for ABB - How to make a correct calibration of tool spindle?

[pablomatiasfigueredo]

I have been defining my spindle without any problem. I have read and analyzed the help to be able to define the distance from the flange of the 6th axis, and the quaternium that defines the direction, as indicated by this image.

I have tried to define the distance and the orientation quaternio, calibrating with the short tip and the long tip. I understand perfectly that the coordinate system to take the measurements, are from the flange of the 6th axis.

When performing the calibration, the coordinates must be entered in XYZ from the center of the flange of the 6th axis to the short point.

How do I perform this measurement? The theoretical dimension I have, but I do not have the real one of the whole assembly.

The tutorial on how to calibrate the spindle with short nose and long nose is unclear. It is assumed that you should be able to calibrate the whole assembled assembly and not have to make around doing accounts and think about how to define the spindle.

I should be able to do this as in the robot control system: one takes points, enter dimensions and PM must do the accounts.

I would like if you help me define the real values of:

  - Spindle direction (Tool axis)
  - Spindle center point

Thank you very much

[alexandre.pintoAGNAU · Accepted solution]

Pablo,

Hopefully I will explain everything and all will be cleared.

Image 1 - On your post image 1 refers to theoretical values of the tool position and orientation, measured from CAD or drawing (in this case). This is part of the "PowerMill Robot - Robot Workplanes.pptx"
On this power-point we cover the Euler angle conventions and tool definition for various robot brands, the intention is to explain why we require rotations that are non zero. ONLY THAT ! 

YOU ARE NOT MEANT TO USE THIS PROCESS TO CALCULATE YOUR TOOL TIP POSITION.
the ppt is located here: C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2019\Help

Image 2 - On your post image 2 refers to a specific menu from the tool & spindle calibration process
the x or y component of the tool workplane must be defined in PM from the 6th axis workplane
this options informs powermill what is the orientation of your X or Y component of the Tool workplane
You must define one of the 2 components, x or y ( by default the options selected are for Z up, X forward as on image 2)

Image 3 - On your post image 3 referes to the menu where you enter the XYZ position of the tip of the tool/spike
This value is not calculated by you !

This value is calculated by ABB controller after you complete the 4 point method tool measurement.

the ABB point method it will create a tool with the correct XYZ position (no rotations)


I hope you are familiar with ABB (your robot) 4 point method to measure the tip of a moving tool (TCP).
If not, please familiarize yourself with this as otherwise you will not understand what I explain.
Below I will refer to this as ABB 4 point method.

The result of the ABB 4 point method when completed is the XYZ position of the tool (same as on image 1), orientation is ignored in our case.
During the teaching procedure, the robot determines where the tool tip center point is, in relation to its 6th axis workplane

Please refer to "PowerMill Robot - Tool and Spindle Calibration.pptx", my notes below are just extra information to
help you understand the steps to complete the process.

Slide - 4. This is what will be defined in the process
The spindle reference plane is also know as Spindle Gauge Face

Slide - 5. Tools required to complete the process

Slide - 7. Explaining the user must complete the robot 4 point method in order to calculate the XYZ of the tool tip

Slide - 8. once completed the ABB 4 point method on short spike, read the XYZ positon from teach pendant and enter into the form

Slide - 11. measure short spike length

slide - 13. once completed the ABB 4 point method on long spike, read the XYZ positon from teach pendant and enter into the form

Slide - 16. measure long spike length

Slide - 17. the x or y component of the tool workplane must be defined in PM from the 6th axis workplane

Slide - 18. click "check" to compare the result of the calibration tool workplane to the one defined in mtd file

Slide - 19. Measurement of tool once tool & spindle process is completed.
No tool calibration via 4 point method is required (Tool gauge height is data that is important for robots)

I hope this helps understand the process.

[pablomatiasfigueredo]

Hello alexandre It was very clear!

I had the problem in "Slide # 7". I did not understand that the tip should be measured with the 4-point ABB method.

I interpreted that the absolute coordinates of the robot had to be loaded. I am not an ABB Robot programmer, I am a mold maker, and I program CNC milling machines.

I think it's a good idea to clarify on slide # 7, that the XYZ coordinates that must be entered in PowerMILL are those obtained in the 4-point measurement.

Excellent, now I understand everything!

After 2 weeks of driving you crazy with so many questions, I'm going to have to show good results !!! : smileyvery-happy:

Thanks for everything!!!