Dynomotion

Group: DynoMotion Message: 14177 From: bordaco Date: 11/28/2016
Subject: Robot project
Hello Tom

After finishing my retrofit project on a VMC with the kflop + Kanalog, (its working very fine, still some issues to solve) I will like to start another project, i think a little more complicated.

I have a not so old Fanuc Robot S420F with a RJ controller, 6 axis and 120Kg payload,( FANUC S420F Beladeroboter

 

) I will like to use kflop to  control this robot, and make a  RoboMill, 
Sculpting a Large Bust of Bethoven

 




Why? first, I lost the system software (backup battery problem), second, original RJ system will not work whit G-Code, so creating the cutting programs whit the teach pendant, will be a real lost of time.

and finally because the long reach of the arm will make a very big cnc machine, mostly for modelling.


So I need some advice before star to invest in this project. All the axis are rotational axes, no one is linear, so the control need to move and synchronize all axis in order to emulate one single Cartesian axis, what do you think it is possible whit your hard a soft?


Thanks for your coments


Regards


Boris B.
Mantenimiento Industrial
Cochabamba - Bolivia
Group: DynoMotion Message: 14178 From: Tom Kerekes Date: 11/28/2016
Subject: Re: Robot project

Hi Boris,

That sounds like a fun project!

Have you been able to determine the interface to the existing amplifiers and sensors?

Synchronizing all axes should be possible.  You will need to create a Kinematics class to do the transformation from Cartesian Axes to Actuator Positions (angles).  You will then be able to simply specify in GCode the end effector xyz position and the end effector angular orientation.  We can provide some help with that if necessary.

Regards

TK


On 11/28/2016 7:52 AM, bordaco@... [DynoMotion] wrote:
 

Hello Tom

After finishing my retrofit project on a VMC with the kflop + Kanalog, (its working very fine, still some issues to solve) I will like to start another project, i think a little more complicated.

I have a not so old Fanuc Robot S420F with a RJ controller, 6 axis and 120Kg payload,( FANUC S420F Beladeroboter

 

) I will like to use kflop to  control this robot, and make a  RoboMill, 
Sculpting a Large Bust of Bethoven

 




Why? first, I lost the system software (backup battery problem), second, original RJ system will not work whit G-Code, so creating the cutting programs whit the teach pendant, will be a real lost of time.

and finally because the long reach of the arm will make a very big cnc machine, mostly for modelling.


So I need some advice before star to invest in this project. All the axis are rotational axes, no one is linear, so the control need to move and synchronize all axis in order to emulate one single Cartesian axis, what do you think it is possible whit your hard a soft?


Thanks for your coments


Regards


Boris B.
Mantenimiento Industrial
Cochabamba - Bolivia