Hello,
I have a problem with the tolerance of the parts and, therefore, the problem with the robot's position.
My process looks like that the robot is gripping a part which is not exactly in the same position in every cycle - there are small differences in the position of detail in X, Y, Z and A, B, C.
Is there any possibility to make the robot a little bit adapt his position to position of the part?
I've read on other forums that setting TORQMON limits can make the robot axes more soft and adaptive.
Quotee.g
;FOLD TORQMON SetLimits Axis1: 50 % Axis2: 50 % Axis3: 50 % Axis4: 50 % Axis5: 50 % Axis6: 50 %;%{PE}%R 8.3.38,%MKUKATPBASIS,%CTQ_MON,%VTQ_LIMITS,%P 2:TQ_LIMITS, 4:50, 7:50, 10:50, 13:50, 16:50, 19:50
SET_TQ_VALUES (50,50,50,50,50,50)
;ENDFOLD...
;FOLD TORQMON SetDefault;%{PE}%R 8.3.38,%MKUKATPBASIS,%CTQ_MON,%VTQ_DEFAULT,%P 2:TQ_DEFAULT
SET_TQ_VALUES ( )
;ENDFOLD
Is that true, maybe there is another better solution?
I am using KRC4 with 8.3 software.