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Author Topic:  Staubli VAL3 move in axis  (Read 649 times)

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July 10, 2018, 10:38:10 AM
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thyplock


Good morning,

I'm working with a Staubli TX60, a CS8C controller and the Staubli Robotics Studio 2013.4.5 software. I am developing my final degree project and I need to be able to move the robot in the same way that we move it with the MCP in frame mode. My main problem is to tell the robot to move / stop continuously on an axis (X, Y, Z) without noticing the stumbles. I want a fluid and continuous movement until I tell him to stop. Any ideas?

Sorry for my English, it's not the best in the world

Thanks for the help

July 10, 2018, 11:39:44 AM
Reply #1
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Psyril


Hello thyplock

There are several ways to do that.

  • remoteMCP runtime licence which enables you to link the mcp actions to an Input. This way you could use a plc or some other pendent to perform those movements.
  • add-on velocity which enables you to tell the robot to move in a certain direction with a certain velocity instead of telling it to move to a certain point.
  • simply by using VAL3 default instructions
    • get the actual position
    • check which is the furthest point still in range
    • move to that point
    • stop the robot at any moment of that move instruction

Best regards
Psyril
« Last Edit: July 10, 2018, 12:33:20 PM by Psyril »

July 10, 2018, 12:12:11 PM
Reply #2
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thyplock


Hello Psyril,

I did not expect this speed at the time of answering, thank you  :toothy9:

I'm really interested in answer 2, in being able to move the tool in a certain direction at a certain speed. The problem is that with the manual of VAL3 I can not find a way to do this. For this is it necessary to buy or have speed runtime license? If any license is necessary, have it or buy it, I would rule out option 2 and I would use option 3.

In case I use option 3, the only thing I would not know how to do would be to look for the furthest point on the corresponding axis. Would it be based on trial and error, testing distances and looking if they are within the range with the isInRange function? Or is there some more optimal way?

Thank you very much for the help

July 10, 2018, 12:33:09 PM
Reply #3
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Psyril


I was wrong "velocity" is not a runtime licence but an add-on. Add-ons are free to use. You can download the corresponding add-on version to your SRC version from Stäubli technical database.

July 17, 2018, 06:38:10 AM
Reply #4
Offline

thiseful


Hello

Have you tried using a motion descriptor(mdesc) to set the velocity, acceleration and deceleration of the movement?

July 27, 2018, 08:54:30 AM
Reply #5
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thyplock


Hi Psyril and thiseful,

Actually I waiting for the teacher of the university grant access to the velocity add-on in Stäubli database. I think this solution will be the best option and solve my problem. The next week I will meet him for view options. I will keep you up.

Currently I move TX60 with mdesc manipulation, however this solution isn't what I'm looking for.

Thanks for the help

Best regards,
Thyplock