RX 160 END OR ARM TOOLING SHAKING

[BDSMITH]

I am a Staubli customer and am at a machine integrator. We are running our new robot and the end of arm tooling began to shake and act erratic when we tried to get more speed. Was wondering if anyone has seen this. The shock coupling is not loose. I almost seems like a brake may not be releasing properly. This i a new robot.

[TygerDawg]

Check your EOAT inertia about J5 & J6 axes, make sure it is within limits specified by the arm manual.

[klausi]

Hi
Not easy to aswer your question.

However, you may want to use the recorder functionnality included in the controller. This feature is located under Control_Panel-->Controller configuration--> Recorder.
You can thus, by default, record joint commanded position and joint feedback position.
Write a small program with motion illustrating the vibration and perform a record during robot motion.
The file containing data result is located on flash in usr/recorder folder. You can download it per FTP.
You can then contact you local stäubli organization and submit this file for analysis.

Hope this could help