- Видео 14
- Просмотров 17 966
Big T's Chop Shop
Канада
Добавлен 24 апр 2021
Big T's Chop Shop is a boutique CNC machining and fabrication shop in Port Coquitlam, BC, Canada. We love a challenge and are documenting our journey as we tackle new and interesting projects at the shop.
Currently, our focus is on automated workflows and integrating our new Tormach ZA-6 into our workflow at the shop. We're going to publish the successes and failures along the way and invite you to join in, watch, and let us know what you think!
Currently, our focus is on automated workflows and integrating our new Tormach ZA-6 into our workflow at the shop. We're going to publish the successes and failures along the way and invite you to join in, watch, and let us know what you think!
CNC Machine Tending - Full Cycle
A run through of all the steps in my machine tending cycle. This is a Universal Robots UR3 Cobot tending a Haas TM-1P with Versabuilt workholding. #robot #robotics #machinetending #universalrobots #automation
Просмотров: 380
Видео
FlexTender - Load/Unload Sequence. Machine Tending on a Haas TM1-P With Universal Robots UR3
Просмотров 212Год назад
Here's a sample part load/unload sequence with my UR3 Machine Tending Setup. I use a smaller UR3 arm with a 7th axis extender to reach right inside the machine for loading and unloading parts. This is a more affordable setup than a large permanent arm, and the small cart is easy to wheel away when not in use. #haascnc #haas #machinetending #cnc #robot #cobot
Full Integration of Haas CNC and Universal Robots UR3 - Making Chips!
Просмотров 277Год назад
This is a sample loading sequence of my lower cost machine tending cart featuring a Universal Robots UR3 and a Haas TM1P. In this final step, the Haas machine controls are connected to an intermediate PLC which the robot accesses as well. Pressing "Cycle Start" on the CNC includes a MCode that signals the robot when it's supposed to load and then waits for the robot to signal completion. After ...
UR3 + Haas Integrated Control - First Load
Просмотров 326Год назад
This is the first fully automated load sequence using my low(er) cost CNC Machine Tending Cart. The Universal Robots UR3 arm is a 3kg payload robot. Although the payload is fine for loading my parts, the reach isn't quite there so I made a custom 7th Axis Extender that allows the robot to move itself in and out of the Haas CNC Machine. On the other side, I have built a small custom PLC for conn...
Sneak Preview: Does a UR3 Cobot Have the Torque to Open CNC Machine Doors?
Просмотров 1,3 тыс.Год назад
In a run up to a full video series on machine tending using the lowest cost Universal Robots Arm, this second segment features a quick-and-dirty test to see if the UR3 has the torque to open an close the doors on a Haas TM1P CNC. #cnc #universalrobots #machinetending #cobot #robot
Sneak Preview: First Run - 7th Axis Range Extender for UR3 Robot Machine Tending
Просмотров 732Год назад
This is a fun video from the shop today. I managed to get my hands on some Universal Robots UR3’s from another local company. But, while they can carry the payloads I need for my parts, they don’t have enough reach to get inside my Haas TM’s. Some folks on Instagram suggested I build a 7th Axis Extender so that the robot can move in and out of the CNC to extend its reach. This is the first test...
CNC Mill Automation With the Tormach ZA6 Robot and VersaBuilt Multigrip System - Episode 4
Просмотров 4,8 тыс.2 года назад
This is the fourth and final segment in a series about using the Tormach ZA6 Robot to do automated CNC machine tending using the Versabuilt MultiGrip System. In this episode, we show the system running parts and making chips! It's been an amazing journey to figure out this new robot, and how machine tending works in general. Although it looks easy now, a lot of work went into getting to this po...
Using a Tormach Mill and CNC Probe to Digitize a Surface for Fusion 360
Просмотров 1,9 тыс.2 года назад
In this video, we explore whether it's possible to use a CNC Spindle Probe on the Tormach 1100 CNC Mill to digitize a 3D surface for use in Fusion 360. It turns out, the process isn't too bad to set up, and the results it generated were pretty good. We borrowed the SMARTPROBE.NGC script from LinuxCNC and modified it slightly to probe the surface of our part generating a point cloud. This data w...
CNC Mill Automation With the Tormach ZA6 Robot and VersaBuilt Multigrip System - Episode 3
Просмотров 2,1 тыс.2 года назад
This is the third segment in a series about using the Tormach ZA6 Robot to do automated CNC Mill tending using the Versabuilt MultiGrip System. In this episode, we deal with how to establish the origin of the vise and how to train the system to pick up and place the vise jaws using the Versabuilt FJ Gripper. For the specific example code and updates related to this episode, visit our blog post ...
CNC Mill Automation With the Tormach ZA6 Robot and VersaBuilt Multigrip System - Episode 2
Просмотров 6423 года назад
This is the second segment in a series about using the Tormach ZA6 Robot to do automated CNC Mill tending using the Versabuilt MultiGrip System. In this episode, we deal with the installation of the MultiGrip FJ Gripper on the Tormach ZA6 Robot, and installing the MultiGrip Vise on the Tormach 1100 CNC Mill. The ZA6 Robot is a brand new addition to our shop, and we are super grateful to Tormach...
CNC Mill Automation With the Tormach ZA6 Robot and VersaBuilt Multigrip System - Episode 1
Просмотров 9033 года назад
This is the first segment in a series about using the Tormach ZA6 Robot to do automated CNC Mill tending using the Versabuilt Multigrip System. In this episode, we get the solenoid valve kit and pneumatics plumbed into the vise and robot gripper and write up a simple program to put the components through the paces for a bench test. The ZA6 Robot is a brand new addition to our shop, and we are s...
Tormach ZA6 Robot First Look - Uncrate and Demo
Просмотров 3,2 тыс.3 года назад
Come check out our new #Tormach #ZA6 #robot manipulator! This video is a first look at the robot as we uncrate it, set it up with the included #PathPilot controller, and run the first #Python program on the robot. We're extremely excited to be part of the beta program for Tormach, and are hoping that we can share as much information as possible about the ZA6 and our experiences with it. Our lon...
But can it pour us a beer?!?
Working on it!
You think Tormach is the best small shop robot? I REALLY want to use a robot with the Pierson Pallet System so I can load pallets instead of single parts, but the Tormach robot can only hold 13 lbs.
So, there's a couple things there. Is it the best small shop robot? I would say "Depends on your budget". Under $20k, it's pretty decent but there are definitely other options as well. For ease of use, a cobot like a UR or Fanuc is probably easier and safer to set up albeit at a higher price point. A UR10 is probably the gold standard and can lift 25lbs but it will be more expensive. As far as pallets go, I love the Pierson system (I have one here) but it probably wouldn't be a system I'd try to load with a robot now that I've used it. It requires very precise alignment of the pins onto the base and sometimes mine is hard enough to align as a human let alone for a robot. There are pallet systems from Schunk and some of the others specifically designed to be easy for robots and automation systems to align. Those are probably worth looking at. A Tormach ZA-6 trying to load Pierson pallets would probably be a very challenging system to tune to be reliable.
@@bigtchopshop I wasnt sure about the positional accuracy needed for the Pierson pallets so thank you. Thank you so much for the Schunk reference too, I'm going to look into those. Some times I search everywhere online for specific solutions and just can't find anything, I appreciate the help.
@@kellykramer2529Yes. It needs to be quite precise for the Pierson pallets to line up. The Schunk stuff isn't cheap, but you can see where they are going with it - basically, there are features on the zero point systems and pallets that are tapered and/or mechanically guide the pallet into the right alignment as the automation system places it. This allows you to have a little bit of slop on the loading and still be able to get the pallet loaded successfully. In my experience, this will save you a lot of headaches. The robot arms are very accurate, but it's a long swing, and there are variables loading and unloading and how you pick up the pallet, and how firm the surface is that the robot is bolted onto, and so forth. Schunk isn't the only one making such things for sure, but a good reference. For example - schunk.com/ca/en/workpiece-clamping-technology/quick-change-pallet-systems/automated-machine-loading/c/PUB_8474. Feel free to reach out via bigtchopshop.com if you want to discuss this in more detail.
Very nice! What does the control architecture look like? Is everything running from one big gcode file or is there a higher-level orchestrator coordinating the two machines?
Hey Luke! Good question. There is a master GCode file that calls two subroutines. The first subroutine is whatever the current machining program is and the second is a program that runs to clean the vise in between runs. That just keeps looping on the Haas control. There is a MCode in that script that tells the robot controller whenever the CNC cycle is done. It sets a relay high when called and waits for the robot to finish and then send a signal back. So, it’s pretty simple - just runs in a big loop like that. The robot code is set to increment through all the loading positions I specify and then it waits with a message after the last one so that I can swap in another set of material. Tried to keep it as simple as possible - not a lot of code actually.
Looking super smooth, Big T! The airgun on the final op is a nice touch.
Thanks! Yeah. I found it mostly got rid of the coolant, so that was great. Especially parts like that with a pocket. They get real messy if you just lift them out of the machine full of coolant!
After researching a ton and deploying a robot at our facility, there are a few issues with using the robot to open the door. First, it is slow and - at least in this setup - means the robot can't be already holding the stock material, waiting at the door. I watched your youtube short and it looks like you could save almost 45 sec. per cycle. Of course, this doesn't really matter if you don't need the machine capacity. Second, the applied force along a linear motion and tons of extra movements will wear out the robot faster. Third, it may not have enough force if chips get caught in the door slide (this happened to us). We tried a mechanical door opener, but prefer the simplicity, power, and price ($1-2K) of a pneumatic one. If you are interested, I can send some resources (youtube videos, BOM from AutomationDirect) for a pneumatic opener. I'm sure the Haas auto-door would also work great.
hey, what if the table is moved manually for whatever reason, will your robot still go into the CNC machine to pick to part? how do you accommodate for that?
The program always puts the table back to a known position before signalling the robot to run its cycle. I have to guarantee that for it to work.
Great video! trying to get this working on my end. It doesn't want to generate the txt file.
I think, vibration under the robotic arm occur many tolerance problem.
Agreed. I'm working on firming up that base!
Looking forward to seeing this thing cut some chips, Big T!
It’s alive! Check out the newest video. Finally up and running.
Did you get rid of the Tormach robot arm? Why didn't you get a second Tormach? Where does the tormach lack compared to the UR?
Great question. I do still have the Tormach ZA-6 as well. There were two main reasons I switched over to the UR. 1) Safety - Although the Tormach does stop on a collision, that threshold is high enough that if it collided with my machines it would cause damage. The UR can bump the machine and shut down safely without huge concerns. For a production machine, I was leery to cause any damage that might take me offline. 2) Free Drive / Programming - Being able to free drive the cobot for programming is night and day over having to explicitly jog the industrial robot using the controls. I’m going to create a video of that. That said, I still have plans for the ZA6 to try create a simple pallet changer. So that will be on my to-do list for when things are running smooth here.
Does it put the probe in the atc?
Yes. I was running a wireless probe that was held in the ATC.
Amazing, Keep it up
Very cool demo Trent. Ciao, Marco.
Yep, properly massaged codes, lots of redundant tools, a man can go elk hunting and return to cash the check.
I’ve just subscribed to your channel, you’re my new friend 😊I really like what you’re doing with these robots. Currently setting up my new Tormach lathe and still waiting for my Hass Toolrooom mill to arrive. My dream is to have one of these robots in the future.
It’s great that you took on the task of learning this all by yourself. What I have found is the “unattended” operation reality is that you need very long cycle time parts and that the delivery/work storage systems are very limited. The robot manufacturers have some systems that accommodate multiple part storage of raw stock and finished product but the flexibility of them with regard to size and shape ends up being very limited. I get that but it is a bit frustrating that most want to load one part in one vise in one milling machine. Try to stray from that and it is very limiting.
Totally agree. I am actually working on a system for loading pallets onto a zero point fixture next so that I can vary up the jobs and the workholding a bit. The challenge there is that there isn’t great off the shelf scheduling software for running different jobs on different pallets. I’m just trying to figure out how to manage all that.
Always wondered about this, most the time you only need reach in 1 axis even 2, have wondered why you dont see tenders mounted to a rail on a roof that can reposition to over the door and over a table leaving ample operator space. Hope to see more soon
Exactly! In my case, I got my hands on some UR3’s that a local company was selling off and I got to thinking of ways to put them to use. The 3kg payload on a UR3 is more than enough for most of the parts I make, but the reach not so much. This seemed like a worthwhile experiment and it worked well. I am just getting the vise ready to go into one of my TM’s and then I’ll make a video about the whole system. I found the UR3 was fine at opening the doors as well, so that was a nice bonus.
Well done going through all these details.
bro this is amazing
That was great man, thanks for sharing the journey. I wish I had your ability to understand the deeper code behind all this. Consider me jealous! Look forward to more videos.
Thanks for the kind words! It’s great to hear that it resonates and you find the robot interesting. I wish we could get all the robot fans together for a hangout, but RUclips is the next best thing.
Very cool man, that robot is a game changer. Keep the videos coming.
Thanks! Yeah, it was great to finally make some parts with it.
it's cool but - what are some uses for this thing?
Check it out in the latest video - I have it tending my CNC. CNC Mill Automation With the Tormach ZA6 Robot and VersaBuilt Multigrip System - Episode 3 ruclips.net/video/447gZ9MdeJY/видео.html
Good vid. Funnily enough this is the 3rd video on this robot i have watched and the first time I've seen it actually move.
Thanks! I've actually got it doing a lot more these days. I am just about to record the first run if it actually making parts and swapping stuff out on the mill. Stay tuned - hope to have that out in the next couple weeks.
This is great. It's a little over my head. I'm new. But I can follow what you're doing here. I need to be able to probe a surface at a pretty high precision. Do you have any probe recommendations? I'm probably limited by my cnc machine itself.
If you're looking for high precision, I would say this approach probably wouldn't be the best. The data that you'll get from it is still pretty noisy, and good for a rough approximation, or finding curvature, etc. But, you're sort of limited by the resolution of your probe, and diameter of the tip. If you were going to try get a higher precision probing cycle, I'd probably start by trying to find a probe tip with a really small diameter, and then work from there. The probes themselves should all be reasonably accurate (they need to be for the machine probing to work).
Also, I need gcode that will probe a 3" x 22" x 1" area. That will cover my necks completely. I will need to make it smaller and larger depending on the neck length but you get the idea.
@@dunawayguitars7494 Yep. Have you considered 3D scanning as an alternate approach?
@@bigtchopshop I looked at hand scanners but they didn't give me the accuracy I wanted. I'm open to ideas though.
Great video 👍
Thanks so much. Glad you liked it.
Your videos are well done. Keep at it, the subs will come!
Thanks so much. Working on it!
Great video! Thank you for showing the process. It is most helpful.
You're very welcome. Thanks for watching!
Big T's Chop Shop! Love it. Nicely produced video, Trent. It looks like you're doing somethign you love. (JB from EA days)
As promised - here's the link to our blog post with all the additional details: www.bigtchopshop.com/youtube-machine-tending-with-tormach-za6-versabuilt-multigrip-ep3/
Is there a Mig welding attachment for the ZA6?
Nothing off the shelf currently, but I see no reason you couldn't make or adapt any of the ones from other robots. The ZA6 is a pretty open architecture in terms of being able to add in your own components.
Nice job on the video! Interested to see the rest of the Tormach robot interface.
Thanks Al! Been a pleasure to work with your hardware as well. I'm hoping to get the next episodes up here soon, so will have more of the Tormach side and programming coming up.
This is super interesting stuff. I'm looking forward to seeing this all come together!
Thanks Alan. You bet. Spoiler - it's getting there! I just need to cut the video together!
I love ❤️ big robot
So do we!
Great video
Glad you enjoyed it
Congrats Trent on the new youtube venture. It's a far cry from days of building custom RC motors back in the day!
Thanks Jeff! This is definitely a step up, and a lot of fun.
Looking forward to seeing the application.
Thank you! Working on installing the tending system right now!
Thanks for the video. CNC, Tormach, Canada.. waiting for more :D
You got it! Thanks for watching.
Pretty cool Trent! Thanks for sharing this 🍻
Thanks for checking it out Arthur!
Big Cardboard thumbs up! Too cool Trent.
Thanks Nick. Was fun to pull together. Learned a lot. Next one in the series will be even better!
Thanks for sharing!
You’re very welcome. Thanks for watching!
That's so cool. 👍🏻
Great editing too. :)