Hello friends
I have an external axis that works with the MH12 robot
When executing the SMOVC command, the extral axis accelerates.
I wanted to see what the reason for the extral axis acceleration?
Hello friends
I have an external axis that works with the MH12 robot
When executing the SMOVC command, the extral axis accelerates.
I wanted to see what the reason for the extral axis acceleration?
Is TCP calibrated?
Robot to external axis calibrated?
YES. TCP is calibrated & Robot to external axis calibrated.
The controller is moving the robot and external axes at a speed to maintain the true surface speed of the tcp. The external axis does not have a speed associated with it because we don't know how fast it needs to move. The external will move at a speed to maintain the tool control points surface speed, 40 somethings/something in your case. I don't know if you are using cm/min or in/min.
This is the same as being at the center of the earth. You move very slowly to rotate 360 degrees in 24 hours. If you are standing on the surface you are traveling much faster to cover 360 degrees in 24 hours.
Without seeing a video this is about the best explanation I can give.
Three points on the axis with a 30 degree angle to calibrate.
Can't say based on the picture. If you put a punch mark on your positioner, move the robot tcp and external axis to the C1 position and record the position. Move the external axis to the C2 position. Move the robot tcp to the punch mark. Record that as C2. Move the external axis to the C3 position. Move the robot tcp to the punch mark. Record the position.
Basically, you are teaching the tcp to the punch mark at three different positions. Thirty degrees will work, I prefer more if possible. I also try not to introduce any rotation of the robot tcp. Of the three positions the controller can calculate a center point which will be the master tool frame. The three positions will tell the controller where the postioner is in X, Y, Z, Rx, Ry, and Rz.
To test the calibration create a R+S:S job. Move the robot tcp to the punch mark. Turn on synchronous jogging (7 key on the pendant). Jog the external axis. The robot tcp should stay with the punch mark.