Cutting Small Circle

Robot Controller
1

Hi All,
Currently I am developing a system (IRB4600,20kg,2.50m) to cut a hole on a plastic bumper. The tool that I use is an endmill. The diameter of the endmill that I use would be 4mm, while the hole that I am going to cut is 5mm. I am not using tool changer, so there’s no way to change the size of the endmill. So the robot would do 1mm diameter circular path. In the system that I am going to develop, I am using advace shape tuning.

  • I need to use small size endmill because there are other hole (not circle) that has smaller radius.

I read an old link on a forum http://www.robot-forum.com/robotforum/index.php?action=printpage;topic=2840.0, that if you cut small circle the robot will suffer backlash and ruined the circle.
My question are:

  1. Does my robot specification compatible to do the task? I mean, does the Advance Shape Tuning feature sufficient to overcome the backlash problem. And how about the specification of IRB4600, I read that it has 0.05mm pose repeatability, is it sufficient for the application?
  2. I read on the article that they don’t recommend using MoveC in cutting circle. Why?

Loiking forward to hear from you.

Thanks
Zul

2

Hello,

In my opinion, IRB4600 doesn’t suit your application due to its link type of manipulator. You’d better take IRB4400 instead which is double link type; more durable, stable and rigid.
Any way, if you have no alternative, please refer to following documents for tuning.

Best Regards,

webwiz/263/IRB4600_Performance.zip