I have a weird issue going on. I recently did a retool where we replaced the gripper which actually made the EOAT lighter. However, it also required the robot to extend further with respect to axis 2. The issue I am seeing and it doesn't happen too often like once every couple hours is I get a collision fault on axis 2 but there isn't a collision. It happens after the part is dropped off and trying to return to home. I did not change the Payload because this was the same payload they were running at before. Any idea on what I can do to stop this from happening besides just continuing to turn up the collision detect. It is currently at 50 which should be no issues due to the fact it isn't hitting anything on the way out.
Collision detect issue on Axis 2
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John11 -
August 4, 2016 at 9:28 PM -
Thread is marked as Resolved.
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Also it is older model robot I4
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More of a Band-Aid than a solution, but you might reduce the acceleration/velocity on that one move.
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Did you change the mass value of the TCP that you are using? You said that you made the tool lighter so you would need to go in and change the weight of the Tool as it is defined.
PERS tooldata tGripA:=[TRUE,[[137.539,-55.7989,241.567],[0.964246,-0.014125,0.264605,0.003879]],[5,[110,0,270],[1,0,0,0],0,0,0]];
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Need to change this value for the weight of your tooling. You should also update the center of gravity in the tooling as well since I would guess it changed as well. Most of the time this would not matter much, but since you said you are reaching out further with the robot and you just dropped the part off you could get this error because the robot thinks it is holding more weight with the tooling than it is. -
Thanks for your help. Should I just rerun loadID to calculate all that?
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Yes I would, but be aware any changes to the X,Y,Z of the coordinate will change your program. Which means your positions will change. The LoadID will not change the X,Y,Z, just want you to be aware of that when changing your TCP.