Which version of NX are you running? if it is 11.0, I recommend to switch to 11.0.1. you will find the Robotic machining solution much improved.
Try to name the Rotary axes: POSITIONER and POSITIONER_H see the following picture.
on the left side you can see the 11.0.1 Robot control dialog and the interaction to set the positioner rules when a dual axis positioner is used.
if this does not work for you, contact me directly email@example.com and I'll try to help you setting it up correctly.
unfortunatly NX 11.0.1 doesnt work.
We need to work of two axes dynamicly (positionr_H and positioner) as a same time but right now according to attachment file it just work one axis (positioner).
please check that you use the right mode in the Robot Controle Settings. Do you use Constant Tool Axis?
As next please check what is the name oft he positioner UDE in Robot Rules? Is it Positioner 2 Axis?
If the positioner UDE have not the correct name, than you use a old version ot the positioner UDE.
Please contact me if you need this UDE Update (firstname.lastname@example.org). Eddy Finaro is for the next two weeks at vocation ;-)
Hi Meysam Kamalnia,
enclosed the RoboticRulesUserDefinitions.py and Robotics.cdl files adapted for the 2 axis positioner.
Please exchange these files for your robot in the robots folder.
HD:\...\ MACH\resource\library\machine\installed_machines\your robot\robots
In your kinematics, the positioner axes must be named as POSITIONER and POSITIONER_H.
If you want to use other settings then you have to change the names in the .py and .cdl file accordingly.
When programming the Robot Rules for the operations, the following must be observed:
After that you can adjust the UDE as usual under Robot Rules, if you have not already done this during the implementation with Edit Rules.
There will probably be an update in the next NX versions, then there should only be one UDE and the default recognition of the 2 axis positioners should then also work correctly.
Wanted to follow up if the guidance Sebastian provided helped resolving your issues or more help is needed. feel free to adress questions to Sebastian or to me (email@example.com).
unfortunately I couldnt run 8 axes of the robot at the same time. 8th axis(positionerH) fix at an exact angle and other axes run.
meanwhile "positioner 2 axis" in UDE window didnt appear.
this is now difficult to analyze from afar.