How to set up a new end effector tool - augmentedfabricationlab/fabtory_fabrication_control GitHub Wiki
How to create the same end effector tool in RobotStudio and Grasshopper
How to create a tool in grasshopper
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Create a new tool in your fabtory_control.ghx file within your rhino/grasshopper environment. Open the cluster in Tool -> Tools and copy one of the tool component groups.
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Set your tool as geometry in this new group and add the right ee_frame (end-effector frame). Internalize the data of your tool geometry as permanent source.
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the data panel returns the values of the set ee_frame of your tool and its quaternions. Copy the content to set up your tool in Robot Studio
How to create the same ee_tool frame in RobotStudio
- switch to RAPID Module Tools in RobotStudio. Expand T_ROB1 in the program modules of your virtual controller and create a new tooldata for your tool in E002_DataTask. Copy the values of your ee_frame you copied from the data panel in the grasshopper tool cluster.
How do I vizualize an end effector tool in RobotStudio?
- Start RobotStudio
- Import geometry Home -> Import Geometry -> Browse for Geometry and select a solid model
- In the layout window rename your tool: t_xx
- Position your model in world0 with right click on the tool in your layout window Position -> Place -> OnePoint, if you need to rotate your geometry use Rotate till the geometry is oriented the same as in your grasshopper environment
How to set the tcf
- Create your tcf with Home -> Frame -> Create Frame and activate your snap
- Set your frame with right click on the frame in the layout window normal to the tcf surface -> Set normal to surface and select the surface
How to create your tool
- Create your tool in Modeling -> Create Tool. A new window will guide you through.
- Rename your tool: t_xx
- Activate use existing and select your tcf as your target frame
How to safe your tool to the library
- Click right on your created tool -> save as library
- Safe your current tool to the fabtory_fabrication_control workspace in data -> robot_description -> abb_end_effectors
How to update the robot with the new tool
- Drag your tool on your robot and update the robot position to snap
- In the Path&Target window you find the ToolData with your new tool
- To test your tool, select your robot geometry and select Jogging, your tool will now move while jogging
Be careful with vizualizing your tool: This can be misleading especially when you switch your end effectors within one process