So I am using RSI 3.1 on a krc4 and I have successfully managed to move the robot everywhere I want (I have set the limitations way greater than 5mm or 5 degrees).
I am using T1 at 10% speed.
When I try to send a correction greater than 0.15 mm in a cycle (12ms) the robot breaks harshly, really bad for a movement or two until an exceeding speed error message pops up.
So I am asking, how does RSI plan its movements, are they similar to PTP motions where maximum speed and acceleration are defined?
Or something different?
I am planing to move the robot with rsi in the whole workspace and I want it to move as fast as possible in a controlled and mannered way.
RSI 3.1 How to avoid hard stops?
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Angelos Stathis -
May 29, 2018 at 4:00 PM -
Thread is marked as Resolved.
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What error? There are many different "maximum velocity" errors -- which one SPECIFICALLY are you encountering?
RSI is extremely powerful, but also dangerous. These are both for the same reason: RSI allows you to work at a deeper level in the robot controller, "below" many of the "safety nets" the normal programming environment has to protect programmers from themselves.
RSI is a position-command environment, not a velocity-command environment. Since RSI cycles at 12ms (or 4ms in IPO_FAST mode), any motion command entered into a POSCORR or AXISCORR object is treated as a command to be executed within that time cycle. Where a normal PTP motion would simply ignore commands to move too quickly (de-tuning the motion to whatever the robot can achieve), RSI will drive the robot as hard as you command until you trip a safety limit.
Using T1 and 10% speed will not protect you -- RSI is capable of moving at full-auto speeds even in T1. That's one of the things that makes it potentially dangerous.
The only way to avoid hitting spatial limits will be to take those limits into account in your RSI program. And if you want to fail "gracefully," you'll need to build PD objects that decel the robot as it approaches those limits.