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Workspace monitoring - just tool or the entire robot

  • chocobo_ff
  • July 25, 2013 at 4:00 AM
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  • chocobo_ff
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    • July 25, 2013 at 4:00 AM
    • #1

    I'm trying to set up a workspace envelope for a complex part the robot has to work with. Looking at the documentation, it seems to suggest that the workspace monitoring is only for when the tool enters the space defined, so if part of the robot enters the workspace, the program wouldn't know about it? If the program is able to monitor when the robot enters the workspace as well, great, otherwise I have other (complicated) ways in mind to deal with this issue if this is indeed the case...

    The robot involved is KR30 with KRC2 controller.

    Many thanks in advance :icon_smile:

  • eusty
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    • July 25, 2013 at 10:41 AM
    • #2

    I'm not sure if I had the same issue as you but I had a case where the A2-A3 joint could hit an overhead obstruction even if the tool was low down.

    I solved it by using an axis specific work envelope to limit just axis 2 and 3.

    Sent using Tapatalk 4.

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    SkyeFire
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    • July 25, 2013 at 4:30 PM
    • #3

    Cartesian workspace monitoring only monitors the active TCP entering or exiting the defined workspace. As the TCP is a point rather than a volume, this has limited utility for large, complex-shaped tools.

    Axis workspace monitoring ignores Tool and Base data, and looks merely at realtime axis angles.

  • NortheyTech
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    • July 29, 2013 at 10:22 PM
    • #4

    How do you specify the tool and base to be used for cartesian workspace monitoring?

  • eusty
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    • July 30, 2013 at 10:26 AM
    • #5

    It uses the current tool & base you are using ($tool, $base).

    Sent using Tapatalk 4.

  • RoboticsMan
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    • July 30, 2013 at 1:09 PM
    • #6

    If you choose "inside stop" when you configure the workspace, then the tcp point as well as the center of the wrist will be checked. If one of these points go into the specified volume, the robot stops. If you select "outside stop", then the robot will stop if the tcp is moved outside the volume. The wrist is not checked in that case.

    Sent from my Nexus 7 using Tapatalk 4 Beta

  • NortheyTech
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    • July 30, 2013 at 5:06 PM
    • #7
    Quote from eusty


    It uses the current tool & base you are using ($tool, $base).


    Oh. Then it is almost impossible to use if the current base keeps changing.
    I have a PnP app where the current base changes from pick location to place location and i was hoping to use workspace monitoring to indicate when the robot was inside each area. Sounds like i won't be able to do this.

  • eusty
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    • July 30, 2013 at 6:33 PM
    • #8

    I wrote that....but now I'm wondering!

    It would make sense for the base to be $null_frame ...I need to check the manual!

    Sent using Tapatalk 4.

  • JonHopper
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    • July 30, 2013 at 6:40 PM
    • #9

    pretty sure it's $null_frame and active tool

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    SkyeFire
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    • July 30, 2013 at 11:11 PM
    • #10

    Cartesian workspaces are defined relative to $WORLD frame.

  • Tuipveus
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    • August 2, 2013 at 9:50 AM
    • #11

    You need saferobot, to make robot to understand the dimensions of your workpiece.

    Most likely it is still much easier to define combination of axis for the working envelope to be allowed and not allowed.

    I made a project with saferobots (kuka option) using both envelopes and safetyzones. Safe-option is used for protecting humans and software-based envelopes are for protecting robot itself of another robots and slidingdoors.

    Changing status of cartesian envelopes from submit interpreter usually does the trick.

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    SkyeFire
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    • August 2, 2013 at 5:27 PM
    • #12

    Even SafeRobot has limits on the complexity of the zone shapes it can handle. KSS 8.x supports the most complex shape, but even that's not terribly complex.

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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

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