Hi there,
i am using an ES165D as a giant 3D printer. i am using the Motosim EG virtual environment an modeled everything in great detail.
My problem is that every move i teach from in the Motosim and then run it from the pendant is offset ( twisted) in the Rz by several degrees. i copied the pulse data of some test positions from the motosim to the pendant and the actual position was not the same virtual.
So, same pulse data on robot and on model give different positions (rotated by several degrees). the Z axis is consistent though.
I also have an external linear track as my 7th axis. i am sure this has nothing to do with user frames or the tool data.
Could it be that the robot needs calibration? or my ALL.prm file( which is used to create the motosim cell) has got some incorrect data, for example one joint is rotated by the incorrect number. Basically i cannot understand if its a problem of the robot or the model.
Actual and virtual position inconsistency from Motosim cell to DX100 ES165D
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Lboro3DCP -
June 9, 2013 at 12:07 AM -
Thread is marked as Resolved.
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Lbor3DCP,
Please remember using software like Motosim or AutoCAD you are working in a virtual world. It's not real. In software world there are no tolerances everything is right to the point (X/Y/Z 000.000000 accuracy). In real world, there is backlash, bending moment, inertia.... They all have effect on how something moves.
You may have to have your robot Motocal'd or you may need to make a filter that calculates the difference in the software model and the real life castings and home position of the robot.
One more thing, there is a difference between repeatability and path accuracy. Motoman robot will repeat to the same position in 3D space within the tolerance for that robot model (you'll have to look in the manipulator manual for the tolerance of a ES165D). In other words the robot will come back to the same place and stop at that place every time. How it gets to that place from it's previous place can be different each time and there is no tolerance on this. Anyone welding or gluing does not see this difference because they are dealing with the thickness of the weld wire or glue stream.