March 20, 2019, 01:48:50 AM
Robotforum | Industrial Robots Community

 Moving RS20N with external force.

Author Topic:  Moving RS20N with external force.  (Read 785 times)

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September 27, 2018, 05:02:31 AM
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lancer1992


Hello everyone.
I have a RS20N robot that is going to extract details from casting machine, but have a little problem with the ejectors of the machine - I can't control their speed and I am scared that the force of the ejector will break the robot, if both speeds (robot and ejectors) are not equal. Is there a way to let the ejectors push the robot without breaking it?

Today at 01:48:50 AM
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September 27, 2018, 02:53:12 PM
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Kawaguy


Sure this is possible. Please use the soft absorber function. You can find the manual in the attachment.

September 29, 2018, 08:45:46 AM
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lancer1992


Thank you very much for the information. Now I have to figure it out how to set it up properly.

October 02, 2018, 08:42:00 AM
Reply #3
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Kawaguy


Your welcome. Best is to play a bit with the different settings, find out which joint are 'pushed' away. These joints should have a lower gain.
- Set the weight proberly with SAGRAV.
- Set free moving direction with SAXYZ (base direction) OR SATXYZ (tool direction)
- Limit free movement with SALENGTH and SADEGREE
- Start softabsorber with SASTART
- Wait a short time,
- Set all the signals, wait for ejectors
- Stop softabsorber with SAEND

If you need more help just ask.


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