Author Topic: SMART 5 - NJ 110 ROBOTPRECISION  (Read 703 times)

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Offline IlFincoITA

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SMART 5 - NJ 110 ROBOTPRECISION
« on: April 25, 2018, 10:13:55 AM »
Hi all! I'm experiencing some problem with this Robot. To make it short it's happened that I've manually enter in collision with (i've made an error moving it manually). The collision was not so bad... do you know wen you try to teach some point in a restricted area... well with this Robot I'm basically doing drilling operation. After that all my points need to be manually adjust.. they where just wrong. Now the robot didn't report any error in calibration. The tool seems not to be damage or bended in some ways... I repeat the collision wasn't so bad. Is it possible that this big guy is so fragile?

A technician  suggested me to record a point and try to reach it after a collision... and if there are differenced try to correct them with new tool dimesion. Whad have you ecperienced in a similar situation? How does COMAU manage the robot calibration? I read a bit the manual but I'm very confused about that...

Offline raycor

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Re: SMART 5 - NJ 110 ROBOTPRECISION
« Reply #1 on: April 25, 2018, 06:36:56 PM »
For calibration position  there is a command in service move to (0,0,-90,0,0,0) as far as I remember, that way you can see if all the axis are at 0, the collision detection can be adjusted for less sensitive for drilling purpose.

Offline Vladarius

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Re: SMART 5 - NJ 110 ROBOTPRECISION
« Reply #2 on: April 30, 2018, 09:04:55 AM »
after a collision, always check if you have correct calibrated tool not only robot. Even after minor collision it can move.

Offline IlFincoITA

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Re: SMART 5 - NJ 110 ROBOTPRECISION
« Reply #3 on: May 10, 2018, 12:49:14 PM »
Hi! But where did you see that the robot has calibration problem? Who tells you that? I mean... if I have recorded a joint pos and after a collision I go there I could see that there are differenced. Than what I could do? OK the tecnician suggested me to correct the tool but it seems to me a bit empirical... Besides how I can corect the tool by trial?

Offline Vladarius

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Re: SMART 5 - NJ 110 ROBOTPRECISION
« Reply #4 on: May 11, 2018, 05:54:13 AM »
cheapest way is use position indicator. You have points on robot where you can check each joint

Offline sandrot

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Re: SMART 5 - NJ 110 ROBOTPRECISION
« Reply #5 on: May 19, 2018, 06:55:56 AM »
How does COMAU manage the robot calibration? I read a bit the manual but I'm very confused about that...

Calibration is a collection of 32 bit reals, one per joint.

And then there is turn-set, which is the motor turn count.

Turn-set can be lost because of a collision. If you don't restore correctly turn-set, which involves eyeball align robot on calibration marks, your recorded positions will be bad.

Turn set requires encoders to be within 90° of original calibration. If you mistakely add one turn... Your joint will be off calibration of about 3°.

You can check if you have a bad turn set doing MOVE TO $CAL_SYS. Check if robot is on the calibration marks.

If you're doubtful of calibration contact Comau and give them you robot serial number. They have a record of all original calibrations for the last 15 years.



Sent from my iPhone using Tapatalk
An email to service.robotics@comau.com will also help.