Can some one please tell me the procedure for configuring aditional axis(rail), and how to tune the speed an
d acceleration
Help configuring additional axis(rail)
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Mr.Robot -
October 24, 2018 at 3:02 PM -
Thread is marked as Resolved.
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You start by letting people on the forum know your configuration.....
(controller type, robot model, etc.) -
it's For IRB 6700 235 payload with RC 5 controller.
and it is a Palletizing Application
additional axis motor MU400(rail)Can anyone help me with the step by step procedure to do this additional axis configuration?
*sorry for my poor English*
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Do you have an SMB box or is it connected with one cable to the controller (motor power) and one to the robot (SMB,signal,resolver) ?
Are you running RW5 or RW6 ?
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Resolver cable from the motor is connected to the Robot base.
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Do you have an SMB box or is it connected with one cable to the controller (motor power) and one to the robot (SMB,signal,resolver) ?Are you running RW5 or RW6 ?
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it's Robotware 6.07.0130
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In Robot Studio....
Controller, Installation Manager, Controllers >> Select your controller >> Next
Add >> Motor And Gear Units >> OK
Next >> Next >> Options >> Drive Module Tab
Scroll to drive module, Additional Drive units and make sure you have one added (assuming you have one installed in the controller)
You'll have drive system irb460..... 6700.... and if you only have one drive it would be in the X3 position.Then...
Scroll down to the bottom...
Connection Options >> First Unit connected to SMB
First Unit >> MU400 (click OK in the dependencies box)Next >> Apply
This should install it as a ROTATING axis, so when it's rebooted and you don't have any errors, you can go into your system parameters and under "Single Type" you can change it from "free rot" to "ext lin".
You also need to change your transmission (ratio) so that 1m on the pendant matches 1m in reality.
After that comes tuning to optimize performance....
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Thank you very much, can you please elaborate that tuning part also?
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Tuning isn't easy and it's even harder to explain in words as you rely a lot on your senses (plus the logging from visual aids like test signal viewer).
I think the manual explains the fundamentals quite well .... check it out:
https://robotstudio.azureedge.net/documentation/…20RW%206-en.pdf -
You can also try Tunemaster, it is on the robotware dvd or download.
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Thank you,
I used Tune master Autotune option to update the Lag control master(KP, KV, Ti, Inertia, DF) and Nominal acceleration with the new values.
So that's all? -
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Depends... is it running smoothly with no errors, visible lag or overshoot, then yes, that would be all.