RSI AxisCorr limits

    Having a strange issue with RSI , we are triggering AxisCorr outside permissible range A2max

    Problem is the limits are set to -190 to +45 and A2max warning is kicking in at around -45

    Anyone experienced similar

    Also it seems to be intermittent which is irritating.

    KR10 r1100-2

    KSS 8.3

    RSI 3.2

    It helps to post actual version numbers, and actual fault codes, as detailed in the READ FIRST topic at the top of the forum.

    As Roboformer said, this error is likely coming from RSI due to an over-large instantaneous correction, rather than from the $SOFTxxx limits.

    RSI xxxCORR objects should be fed inputs that have been passed through limiting objects, and probably with some low-pass filtering to prevent spikes.

    Quote from Roboformer

    Did you set the correction limits inside RSI Visual with the object AXISCORRMON?

    Yes, but all are set to the upper limit figure except for A2 which is set to 190 which makes zero sense to me.

    If we have the limits (upper and lower) set in AxisCorr what should the value in AxisCorrMon be/represent

    IIRC, AXISCORRMON limits the motion of each axis relative to the start position. So if an axis was at 45deg when the RSI container was started, and the AXISCORRMON is set to 10 for that axis, then the axis would only be able to move between 35 and 55 deg (absolute) without tripping the limit.

    So, the CORRMON objects limit how much motion the RSI container is allowed to order in total, without any regard to the absolute position.

    OTOH, if the RSI container started with an axis only 5deg from the $SOFT limit, and AXISCORRMON was still set to 10deg, then there's a chance for the axis to hit the $SOFT limit without tripping the CORRMON.

    So, if you monitor the outputs of the AXISCORRMON, they will all begin at 0 the moment the RSI container begins executing, and show how much each axis moved relative to that starting point over time. The CORRMON error will only occur if the output for an axis exceeds the MAX?? input for that object.

    So firstly if you’re likely to start RSI from different positions why even bother with AxisCorrMon?

    And what baffles me is AxisCorrMon A2 set to 190 and starting RSI at 0 degrees why should it exceed A2max at just 45??

    We solved the issue by just upping 190 to 235 but not a satisfying solution

    I can't speak to your specific situation, but I would recommend connecting your AXISCORRMON outputs to an RSIMon object, and generate traces while the error happens, and check what happened.

    As to what the CORRMON objects are for, that's simple: say you want to use a small, space-constrained RSI operation, at many different locations, widely spaced throughout the robot's working volume. Each start point is hand-taught in the KRL program, followed by an identical call to the same RSI object. Even if your start points are meters apart, if you know that your RSI operation should never move more than Xmm from the start point (unless something is going wrong), using a POSCORRMON object set to Xmm inside the RSI container just makes sense.

    Or a seam-tracking application -- you know the seam should be 500mm long along the X axis, but should never vary more than 5mm across the Y and Z axes over its length. So a POSCORRMON with a 510mm in X (for a bit of padding) and 6mm in X and Y (again, a bit of padding) would be a way to protect against bad inputs to the RSI container driving the robot meters off-path until the $SOFT limits eventually stop it.

Advertising from our partners