January 18, 2019, 04:28:32 AM
Robotforum | Industrial Robots Community

 Moving RS20N with external force.


Author Topic:  Moving RS20N with external force.  (Read 666 times)

0 Members and 1 Guest are viewing this topic.

September 27, 2018, 05:02:31 AM
Read 666 times
Offline

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?

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=28615.0
  • Like    Thanks

Today at 04:28:32 AM
Reply #1

Advertisement

Guest

September 27, 2018, 02:53:12 PM
Reply #1
Offline

Kawaguy


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

September 29, 2018, 08:45:46 AM
Reply #2
Offline

lancer1992


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

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

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.
  • Like    Thanks


Share via facebook Share via linkedin Share via pinterest Share via reddit Share via twitter

xx
Moving linearly with constant force

Started by world.robot on KUKA LBR IIWA

2 Replies
333 Views
Last post August 29, 2018, 01:38:37 PM
by DrG
clip
About the external force

Started by stone_3rd on KUKA LBR IIWA

3 Replies
559 Views
Last post October 18, 2018, 05:47:32 PM
by rreype314
xx
Get External Force at End-effector

Started by vinhnguyen.ac on KUKA Robot Forum

2 Replies
1697 Views
Last post March 19, 2015, 08:05:06 PM
by vinhnguyen.ac
xx
iiwa External Force Measurement - High Inaccuracy

Started by mike2902 on KUKA LBR IIWA

5 Replies
440 Views
Last post September 05, 2018, 01:13:18 PM
by DrG