Normally WorkObject is defined on the robot by 3 points, just define the name of the workObject same as in PowerMill. If the tool defined has a position and/or orientation that does not match powermill expect something to go wrong. This means the post processed file will have the XYZ Q1Q2Q3Q4 of each defined on the top of the file. This is very handy but can cause issue if not used correctly, it can cause errors on the robot or collision. We have the option to write out in the main file (Autodesk.MOD) the Tool & WorkObject definition. This contains explanation of what you are looking for. Open "PowerMill Robot - Training Manual.pdf" I suggest you open C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2020\Help This is the way we use machine tools and so I prefer to run robots this way too. I prefer to define the tool & workObject on the controller and run my programs. The reason you have the error is because the Tool and the WorkObject are not defined on your controller.Įither on the virtual or real machine, so these must be defined in order for the robot to recognise them. The fact that the program calls these 2 entities and they are not declared, raises the errors. This is the steps that is missing for successful simulation of your toolpaths in Robot Studio. If you update your tool inside ABB Robot Studio to the XYZ and Q1Q2Q3Q4 values defined above you will see that the tool will match PowerMill Robot. Note: this is theoretical value, only to me used for testing on ABB Robot Studio. simuate the toolpath, post process and run on the robot/RobotStudioĪBB Tool can have whatever orientation you want, so you need to replicate the orientation PowerMill requires, not the other way roundīelow the steps to measure the XYZ and Q1Q2Q3Q4 of a 80 mm length tool inside PowerMill Robot.
update the controller to replicate PowerMill Tool (NOT THE OTHER WAY ROUND). use one of the appropriate methods to calculate the XYZ position, and the Q1Q2Q3Q4 orientation of your tool inside PowerMill. revert your mtd back to Z + Up, and X+ forward as PowerMill Robot documentation describe. The point is PowerMill defines Z+ up through the tool/spindle and this CAN'T be changed! You can simulate without a machine/robot.
If you open the the PM Project named "DemoToolControl6D" located here C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2020\Library\Projects, you will see that the tool is always aligned to the toolpath and Z+ is pointing up.
So please revert your IJK UVW back to the default values. Apparently I was not clear in my answer, if you look closely to all the robot cells supplied in PowerMill Robot default Robot library all of them have the Z+ pointing UP through the spindle/tool.
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