Hellow all, who can tell me how is TTS coordination works? I want to transform a point from WORLD to TTS with RSI, but the result is fault. Is there any other methods can finish this? Thanks!
How is the TTS coordination works
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Jonson -
May 21, 2015 at 1:58 PM -
Thread is marked as Resolved.
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TTS is a coordinate system that only exists while the robot is in motion, as I understand it. IIRC, the X axis is always pointing in the current direction of the TCP's motion vector. What exactly are you trying to accomplish?
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Thank you SkyeFire
I want to use my laser tracking to implement seam tracking function. The data given by the sensor is in SENSOR coordination. I want to use this data to correct the teach path. So, firstly i transform this data from SENSOR coordination to TOOL coordination, then to TTS using the TRAFO_ROBFRAME in RSI . And i think the i can use the data from TRAFO_ROBFRAME to make correction in TTS. Now the first step is OK, but the data form TRAFO_ROBFRAME i think is fault. For example, in the follow picture, i think the if i can transform point A from TOOL to TTS, whether i can use the A.y and A.z as the correction value in TTS? I don't know. But the result i got from the TRAFO_ROBFRAME(soure : TOOL, target : TTS) is very large. I need your guidance. Thank you very much for your help. -
according to function generator manual this should allow for corrections in Z direction based on analog input.
Test_TTS.DAT
Test_TTS.src
Code
Display MoreDEF Test_TTS() ; using sensor at analog input 1 SIGNAL Z_CORRECTION $ANIN[1] ; Monitor sensor correction value INTERRUPT DECL 11 WHEN $TECHVAL[1] > 20.0 DO UPPER_LIMIT() INTERRUPT DECL 12 WHEN $TECHVAL[1] < -20.0 DO LOWER_LIMIT() ; Activate cyclical reading of the analog input and ; scaling of $TECHIN[1] ANIN ON $TECHIN[1] = SCALE * Z_CORRECTION + OFFSET ; Define correction direction $TECHSYS = #TTS $TECH[1].FCTCTRL.GEOREF = #Z ; Correction is in Z direction (you may want to change it to #Y) ; Sensor correction using the function generator $TECH[1].CLASS = #SENSOR $TECH[1].FCTCTRL.SCALE_IN = 2.0 ; Definition of control parameters $TECH[1].FCTCTRL.OFFSET_IN = 0.0 ; ” $TECH[1].FCTCTRL.SCALE_OUT = 20.0; ” $TECH[1].FCTCTRL.OFFSET_OUT = 0.0; ” $TECH[1].FCT.ORDER = 1 ; ” $TECH[1].FCT.CPNUM = 3 ; ” $TECH[1].FCT.CPS1.X1 = 0.0 ; ” $TECH[1].FCT.CPS1.Y1 = -1.0 ; ” $TECH[1].FCT.CPS1.X2 = 0.5 ; ” $TECH[1].FCT.CPS1.Y2 = 0.0 ; ” $TECH[1].FCT.CPS1.X3 = 1.0 ; ” $TECH[1].FCT.CPS1.Y3 = 1.0 ; ” $TECHPAR[1,1] = 0.056 ; Smoothing constant in s PTP P1 ; initial position before correction INTERRUPT ON 11 INTERRUPT ON 12 ; Activate sensor correction TECH[1].MODE = #CYCLE LIN P2 C_DIS LIN P3 C_DIS LIN P4 ; Deactivate sensor correction TECH[1].MODE = #OFF INTERRUPT OFF 11 INTERRUPT OFF 12 LIN_REL {X 0.0} ; Zero block for accepting advance run data ; in the main run data --> Deactivation of ; the function generator ; Deactivate cyclical analog input ANIN OFF Z_CORRECTION END DEF UPPER_LIMIT() ; upper limit... END DEF LOWER_LIMIT() ; lower limit... END
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Thank you for your attention!
I have consulted the Function Generator manual, but it's input signal is analog signal. Because my sensor only have ethernet interface at present, so i deal with this problem using RSI(Robot Sensor Interface). TTS is also mentioned in the RSI manual, the description about TTS is the same as Function Generator mannual. I don't know how to use it in the RSI. I try to test it's function in the movement, but i'm failed. I can send offset to KUKA to correct the offset in TTS, but i can't transform a data from another coordination to TTS. So i wonder how the TTS is works.
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There is a similar problem. Ctrl+C => Ctrl+V.
$TECHIN[1] = - emphasizes in red. What's nuance?