I need some clarification regarding the Tool feature of mapp Robotics… I read the help, and I couldn’t find instructions on how it must be done…
I checked some Github examples as well, but I wasn’t able to find anything that could help me…
It’s not clear to me how I set the offset of the working range. In my understanding, if I put the tool dimension and bind the feature to the axes group, should it then consider the length of my tool and therefore shift the working range accordingly?
Is it by the Tool Geometry Description? Is it in the Delta Mechanical System? Flange to TCP?
smooth path (not free): we offer a training SEM1115 for Machine Centric Robotics where they describe step by step all tool configurations.
try and see (free): start with simple step with Tool Geometry description and enable/disable the workspace monitoring Axes group feature and see the reactions
Hi @Frederico_Mantovani , just to give you an idea for workspace monitoring I made a small example, with no code, I configured everything in the prj and I test that with mapp Cockpit:
In my case I have a robot 6-Axes Roboarm(A) and I created a cuboid for my workspace, below the 2 objects created with Scene Viewer:
With this robot if I apply on additive movement on the second joint of 20 degrees, it will be outside the workspace:
to do that I call Move block command
Next step will be configure a tool and monitor again the workspace.
This is sincerely the advance I see of mapp Motion (+ mapp Cockpit) compare old ARNC0, now you can test a lot of things without any line of code in your task.
Ciao
Valerio
No, the working range will not shift with your tool configuration since the working range does not limit the position of the TCP but the center of the endeffector-platform (center of where the secondary arms are connected to the “TCP-Plate”). This is also the reason why you can’t reach the top of the workspace with your TCP.
In the help, it does not describe that in the tool geometry, the translation in Z refers to the distance from the flange to the tip of the tool. In the PDF training, it does…
I conducted some tests with Work and Safe, and it was satisfactory.
Nevertheless, I appreciate the sharing of the training and your effort to help me.
there was in the past, but I don’t see that anymore in the latest version of SceneView Help, interesting. I have to check.
I called R&D and they gave me the permission to share with the Community one presentation they made in the past for our training but it quite big 40 MB and I can only upload max 10 MB.
Unfortunately there is only one slide inside part 5, but the ppt (even if I zip that) is bigger than 10 MB,
send to my email your contact and I’ll send to you the missing slice.
Hi @Frederico_Mantovani , I can’t post presentation on the Community so I’m going to remove that.
I have found the old SceneViewer Help with the description how to draw with 3D sw the tool and integrate that in your scene.
I’ll update you soon.
Thanks
Ciao
Valerio
