How to program with wrist angles

[sscandlon]

I am struggling to get the correct dimensioning to match the callouts on my blueprint and am wondering if there is an issue with how I"ve programmed the wrist angles or if the issue is my alignment.



GRP1 =GROUP/SHOWALLPARAMS=YES
PLN1 =FEAT/CONTACT/PLANE/DEFAULT,CARTESIAN,NONE,LEAST_SQR
THEO/<1.3954,-0.4458,0.915>,<0,0,1>
ACTL/<6.71,0.6603,-11.7681>,<-0.0011253,-0.0073911,0.9999721>
TARG/<1.3954,-0.4458,0.915>,<0,0,1>
ANGLE VEC=<1,0,0>,SQUARE
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=2,NUMROWS=2
SPACER=0
AVOIDANCE MOVE=BOTH,DISTANCE=0.3937
SHOW HITS=NO
PLN2 =FEAT/CONTACT/PLANE/DEFAULT,CARTESIAN,NONE,LEAST_SQR
THEO/<0.0709,-0.845,0.6538>,<0,-1,0>
ACTL/<6.7092,-0.1544,-12.1243>,<-0.0006784,-0.9999684,-0.0079156>
TARG/<0.0709,-0.845,0.6538>,<0,-1,0>
ANGLE VEC=<1,0,0>,SQUARE
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=2,NUMROWS=2
SPACER=0
AVOIDANCE MOVE=BOTH,DISTANCE=0.3937
SHOW HITS=NO
TIP/T1A90B90, SHANKIJK=-1, 0, 0, ANGLE=90
PLN3 =FEAT/CONTACT/PLANE/DEFAULT,CARTESIAN,NONE,LEAST_SQR
THEO/<0,-0.1216,0.7307>,<-1,0,0>
ACTL/<5.4302,0.6742,-12.6831>,<-0.9999989,0.0006619,-0.0013132>
TARG/<0,-0.1216,0.7307>,<-1,0,0>
ANGLE VEC=<0,0,1>,SQUARE
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=2,NUMROWS=2
SPACER=0
AVOIDANCE MOVE=BOTH,DISTANCE=0.3937
SHOW HITS=NO
A1 =ALIGNMENT/START,RECALL:STARTUP,LIST=YES
ALIGNMENT/LEVEL,ZPLUS,PLN1
ALIGNMENT/TRANS,ZAXIS,PLN1
ALIGNMENT/ROTATE,YMINUS,TO,PLN2,ABOUT,ZPLUS
ALIGNMENT/TRANS,YAXIS,PLN2
ALIGNMENT/TRANS,XAXIS,PLN3
ALIGNMENT/END
CIR1 =FEAT/CONTACT/CIRCLE/DEFAULT,CARTESIAN,IN,LEAST_SQR
THEO/<0,0.845,-0.915>,<-1,0,0>,1.3185
ACTL/<0,0.8351,-0.9239>,<-1,0,0>,1.3025
TARG/<0,0.845,-0.915>,<-1,0,0>
START ANG=0,END ANG=360
ANGLE VEC=<0,0,1>
DIRECTION=CCW
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=4,DEPTH=0.0968,PITCH=0
SAMPLE METHOD=SAMPLE_HITS
SAMPLE HITS=0,SPACER=0
AVOIDANCE MOVE=NO,DISTANCE=0.3937
FIND HOLE=DISABLED,ONERROR=NO,READ POS=NO
SHOW HITS=NO
TIP/T1A0B0, SHANKIJK=0.0011, 0.0074, 1, ANGLE=0.0389
A2 =ALIGNMENT/START,RECALL:A1,LIST=YES
ALIGNMENT/TRANS,YAXIS,CIR1
ALIGNMENT/TRANS,ZAXIS,CIR1
ALIGNMENT/END
ENDGROUP/ID=GRP1
MODE/DCC
GRP2 =GROUP/SHOWALLPARAMS=YES
PLN4 =FEAT/CONTACT/PLANE/DEFAULT,CARTESIAN,NONE,LEAST_SQR
THEO/<1.5245,-0.3686,0.915>,<0,0,1>
ACTL/<1.5245,-0.3686,0.9239>,<-0.0000154,-0.000016,1>
TARG/<1.5245,-0.3686,0.915>,<0,0,1>
ANGLE VEC=<1,0,0>,SQUARE
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=3,NUMROWS=3
SPACER=0
AVOIDANCE MOVE=BOTH,DISTANCE=0.3937
USE BOUNDARY OFFSET=YES,OFFSET=50.7999
SHOW HITS=NO
PLN5 =FEAT/CONTACT/PLANE/DEFAULT,CARTESIAN,NONE,LEAST_SQR
THEO/<1.4266,-0.845,-0.1161>,<0,-1,0>
ACTL/<1.4266,-0.8349,-0.1161>,<0.0000033,-1,-0.0001718>
TARG/<1.4266,-0.845,-0.1161>,<0,-1,0>
ANGLE VEC=<1,0,0>,SQUARE
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=3,NUMROWS=2
SPACER=0
AVOIDANCE MOVE=BOTH,DISTANCE=0.3937
SHOW HITS=NO
TIP/T1A90B90, SHANKIJK=-1, -0.0007, 0.0011, ANGLE=90.4235
PLN6 =FEAT/CONTACT/PLANE/DEFAULT,CARTESIAN,NONE,LEAST_SQR
THEO/<0,-0.7732,0.39>,<-1,0,0>
ACTL/<0.0002,-0.7732,0.39>,<-1,0.0000728,-0.0001476>
TARG/<0,-0.7732,0.39>,<-1,0,0>
ANGLE VEC=<0,0,1>,SQUARE
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=3,NUMROWS=3
SPACER=0
AVOIDANCE MOVE=BOTH,DISTANCE=0.3937
USE BOUNDARY OFFSET=YES,OFFSET=50.7999
SHOW HITS=NO
A3 =ALIGNMENT/START,RECALL:STARTUP,LIST=YES
ALIGNMENT/LEVEL,ZPLUS,PLN4
ALIGNMENT/TRANS,ZAXIS,PLN4
ALIGNMENT/ROTATE,YMINUS,TO,PLN5,ABOUT,ZPLUS
ALIGNMENT/TRANS,YAXIS,PLN5
ALIGNMENT/TRANS,XAXIS,PLN6
ALIGNMENT/END
CIR2 =FEAT/CONTACT/CIRCLE/DEFAULT,CARTESIAN,IN,LEAST_SQR
THEO/<0,0.845,-0.915>,<-1,0,0>,1.3185
ACTL/<0,0.8351,-0.9239>,<-1,0,0>,1.3024
TARG/<0,0.845,-0.915>,<-1,0,0>
START ANG=0,END ANG=360
ANGLE VEC=<0,0,1>
DIRECTION=CCW
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=10,DEPTH=0.0787,PITCH=0
SAMPLE METHOD=SAMPLE_HITS
SAMPLE HITS=0,SPACER=0
AVOIDANCE MOVE=BOTH,DISTANCE=0.3937
FIND HOLE=DISABLED,ONERROR=NO,READ POS=NO
SHOW HITS=NO
A4 =ALIGNMENT/START,RECALL:A3,LIST=YES
ALIGNMENT/TRANS,YAXIS,CIR2
ALIGNMENT/TRANS,ZAXIS,CIR2
ALIGNMENT/END
ENDGROUP/ID=GRP2
GRP3 =GROUP/SHOWALLPARAMS=YES
CIR13 =FEAT/CONTACT/CIRCLE/DEFAULT,CARTESIAN,IN,LEAST_SQR
THEO/<0,-0.625,-0.6875>,<-1,0,0>,0.272
ACTL/<0,-0.6249,-0.6876>,<-1,0,0>,0.2689
TARG/<0,-0.625,-0.6875>,<-1,0,0>
START ANG=0,END ANG=360
ANGLE VEC=<0,0,1>
DIRECTION=CCW
SHOW FEATURE PARAMETERS=NO
SHOW CONTACT PARAMETERS=YES
NUMHITS=10,DEPTH=0.0787,PITCH=0
SAMPLE METHOD=SAMPLE_HITS
SAMPLE HITS=0,SPACER=0
AVOIDANCE MOVE=BOTH,DISTANCE=0.3937
FIND HOLE=DISABLED,ONERROR=NO,READ POS=NO
SHOW HITS=NO

[Schlag]

Wrist angles should have nothing to do with your measurements. As long as its a calibrated angle, and you are making good ruby contact and not "shanking" , angle has nothing to do with it.

[Ego Murphy]

Step 1: Don't assume that the root cause(s) of the problem is the first thing your brain comes up with.

Step 2: Don't make two threads about same subject.

Step 3: See other thread.

[sscandlon]

This is not the same subject I meant to delete the other thread because I realized what I was doing wrong and the other thread your referring to just says to post the code which I can do here as well . I'm just simply asking for some guidance .