Hello,
Please help me with some ideas.
I think that I have a problem with collision detection and how it's working.
Robot KR 10 R900 sixx and KRC4 8.3
The robot is in external mode. The input that activates the collision from the PLC is set always to 1 inside the robot controller.
To teach the tolerances, I have deactivated the collision from KCP and I have made 3-4 cycles at 100% in external mode and everything was fine.
But after I activate the collision detection I had a path deviation at 100%. The robot simple didn't stop in a stop point (no cont inside inline) and moves until it crashes inside the station.
1. Do you think that the controller detected a higher torque and tried to stop the robot but the velocity was to high?(collision detection reacted?)
2. In normal run I have some Info on KCP (blue "i") . ex: "Impact torque exceeded on fallowing axis 2" but this doesn't stop the robot.
If the collision "tm_useraction" set HALT instruction, the robot will stop and after that will accept external_start? (maybe is a pulse when is not PRO_ACT and Peri_Rdy)
3. I many PTP instructions I used vel=100%, acc=100% even if are short distances. There will be high acc but I think that controller know when to decelerate and stop in position. Please tell me if is very wrong and I have to reduce the velocity.
Please tell me your opinions about those points.
Thank you!
Collision detection issue
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Casius -
June 15, 2016 at 10:22 PM -
Thread is marked as Resolved.
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Hello,
Regarding the HALT instruction from tm_useraction, it's stopping the robot on path. I found that was external_start signal pulsing.In the collision detection window is TM displayed
Red: the current motion is not monitored.
Green: the current motion is monitored.
Pixelated: green or red during learning phase.
But I got pixelated (green or red) even if collision in activated.Is ok to be like that?
Thank you!