Axes flip on program startup

[alexk]

Hi All,

I'm having an issue with programs I'm writing for the Romer Arm. Every time I open up any of the programs and run through it, the axes I'm setting up are flipping. So this program I wrote worked fine yesterday, but opening and running it today, my x and z axes are flipped, so my first hole position that should be 1,-47,-237 is coming out close to -1,47,237.

Anyone know what I'm doing wrong here?

Code I'm using for my startup and alignments is below.

Any suggestions would be appreciated.

STARTUP    =ALIGNMENT/START,RECALL:USE_PART_SETUP,LIST=YES
            ALIGNMENT/END
            MODE/MANUAL
            FORMAT/TEXT,OPTIONS, ,HEADINGS,SYMBOLS, ;NOM,TOL,MEAS,DEV,OUTTOL, , 
            LOADPROBE/3MM
            TIP/TIP1, SHANKIJK=0, 0, 1, ANGLE=0
            COMMENT/OPER,NO,FULL SCREEN=NO,AUTO-CONTINUE=NO,
            Take diagonal plane on left side of jig
PLN1       =FEAT/PLANE,CARTESIAN,TRIANGLE
            THEO/<537.693,-253.38,51.382>,<0.1128515,-0.8113437,0.5735729>
            ACTL/<530.032,-253.633,52.559>,<0.1129547,-0.8113136,0.5735952>
            MEAS/PLANE,4
              HIT/BASIC,NORMAL,<615.176,-220.5,82.637>,<0.1128515,-0.8113437,0.5735729>,<606.863,-223.991,79.354>,USE THEO=YES
              HIT/BASIC,NORMAL,<623.591,-262.785,21.188>,<0.1128515,-0.8113437,0.5735729>,<617.897,-262.479,22.746>,USE THEO=YES
              HIT/BASIC,NORMAL,<458.748,-287.496,18.646>,<0.1128515,-0.8113437,0.5735729>,<452.6,-281.948,27.755>,USE THEO=YES
              HIT/BASIC,NORMAL,<453.257,-242.739,83.059>,<0.1128515,-0.8113437,0.5735729>,<442.769,-246.114,80.38>,USE THEO=YES
            ENDMEAS/
            COMMENT/OPER,NO,FULL SCREEN=NO,AUTO-CONTINUE=NO,
            Take 10 hits on upper cylinder on jig
CYL1       =FEAT/CYLINDER,CARTESIAN,OUT,LEAST_SQR
            THEO/<500.487,-36.804,184.098>,<-0.9906435,-0.1364142,0.00407>,19.979,30.589
            ACTL/<500.624,-36.797,184.097>,<-0.9906374,-0.1364611,0.0039871>,19.993,32.226
            MEAS/CYLINDER,10
              HIT/BASIC,NORMAL,<514.312,-25.943,179.44>,<-0.1229799,0.8793588,-0.4600045>,<513.31,-27.669,177.219>,USE THEO=YES
              HIT/BASIC,NORMAL,<514.263,-25.676,188.055>,<-0.1232678,0.9071765,0.4022883>,<513.976,-25.838,188.323>,USE THEO=YES
              HIT/BASIC,NORMAL,<515.415,-35.278,194.012>,<0.0111993,-0.0515359,0.9986083>,<516.65,-34.768,194.023>,USE THEO=YES
              HIT/BASIC,NORMAL,<516.954,-44.191,186.934>,<0.1317232,-0.9479256,0.289976>,<516.346,-43.184,189.357>,USE THEO=YES
              HIT/BASIC,NORMAL,<515.477,-42.915,178.199>,<0.1082785,-0.8037749,-0.5849971>,<515.911,-42.449,177.652>,USE THEO=YES
              HIT/BASIC,NORMAL,<486.338,-46.366,177.624>,<0.1004537,-0.7490356,-0.65487>,<486.963,-47.335,179.026>,USE THEO=YES
              HIT/BASIC,NORMAL,<487.516,-44.383,192.339>,<0.0816185,-0.568287,0.8187724>,<487.439,-46.638,190.215>,USE THEO=YES
              HIT/BASIC,NORMAL,<486.288,-40.134,194.052>,<0.022606,-0.134609,0.9906409>,<486.648,-38.657,194.149>,USE THEO=YES
              HIT/BASIC,NORMAL,<484.597,-29.755,188.139>,<-0.1234831,0.908639,0.3989075>,<484.799,-29.067,186.027>,USE THEO=YES
              HIT/BASIC,NORMAL,<486.269,-31.39,177.323>,<-0.102391,0.7231882,-0.6830189>,<483.661,-31.939,177.149>,USE THEO=YES
            ENDMEAS/
            COMMENT/OPER,NO,FULL SCREEN=NO,AUTO-CONTINUE=NO,
            Take four hit plane on front of cylinders
PLN2       =FEAT/PLANE,CARTESIAN,TRIANGLE
            THEO/<508.616,35.751,127.22>,<-0.9908362,-0.1350029,0.0042299>
            ACTL/<508.713,34.258,128.03>,<0.9907622,0.135557,-0.0038116>
            MEAS/PLANE,4
              HIT/BASIC,NORMAL,<499.019,104.757,77.523>,<-0.9908362,-0.1350029,0.0042299>,<518.308,-34.116,191.281>,USE THEO=YES
              HIT/BASIC,NORMAL,<498.82,105.499,62.717>,<-0.9908362,-0.1350029,0.0042299>,<518.24,-33.957,177.495>,USE THEO=YES
              HIT/BASIC,NORMAL,<518.383,-34.149,189.878>,<-0.9908362,-0.1350029,0.0042299>,<498.972,104.08,78.379>,USE THEO=YES
              HIT/BASIC,NORMAL,<518.242,-33.103,178.759>,<-0.9908362,-0.1350029,0.0042299>,<499.332,101.024,64.964>,USE THEO=YES
            ENDMEAS/
A1         =ALIGNMENT/START,RECALL:STARTUP,LIST=YES
              ALIGNMENT/LEVEL,ZPLUS,PLN1
              ALIGNMENT/TRANS,ZAXIS,PLN1
              ALIGNMENT/TRANS_OFFSET,ZAXIS,1.5
              ALIGNMENT/LEVEL,YMINUS,PLN2
              ALIGNMENT/TRANS,YAXIS,PLN2
              ALIGNMENT/ROTATE,XPLUS,TO,PLN2,ABOUT,ZPLUS
              ALIGNMENT/ROTATE_OFFSET,90,ABOUT,ZPLUS
              ALIGNMENT/TRANS,XAXIS,CYL1
            ALIGNMENT/END

[AndersI]

Your PLN2 has flipped MEAS IJK compared to THEO. Make sure that the probe is pointing out of the material when you're measuring PLN2 (it's easy to miss when measuring on the side with a large tip)? Or, you're doing correct now, but got it wrong when learing the program yesterday? Maybe you're measuring on the other side (what is "front of cylinders"?)? It's difficult to guess without seeing the setup and knowing what has been changed since yesterday...

[alexk]

Thanks for the suggestion, I hadn't thought to look at my approach vectors; don't think about them the same way I do on the CMM. I turned off "use theos as approach vector" for my alignment features and that seems to have fixed the problem.

[AndersI]

Yes, if you use theos, the part must be placed roughly correct in the machine coordinate system, which is almost impossible with an arm...