Hi all,
is there a command that´s sending the robot to the opposite direction after a collision?
Like, collision while Z- movement, then Z+ movement out of danger zone and stop there?
Thanks
Hi all,
is there a command that´s sending the robot to the opposite direction after a collision?
Like, collision while Z- movement, then Z+ movement out of danger zone and stop there?
Thanks
there is no "go back" command and there cannot be one since many things need to be considered like tool state (gripper open/close), clearances, type of path etc. but.. you have set or motion instructions at your disposal, have fun with them.
the best way is to write programs that do not collide. and if contact is necessary (probing), try to detect it and automatically choose how to continue (proceed or retract).
for example by sending robot to $POS_BACK or $AXIS_BACK. That is previous point (place where motion started from)
another option is to move in tool direction. for example if Z is tool axis, you can do
LIN_REL {Z -100} #TOOL
also newer KSS have additional jog options (Track) if recovering manually.
thanks a lot. I could not affect if it collides sometime because the customer always changes things so that f.e. the pick positions are out of place. Therefore the following station caused a collision sometimes and i am wondering what to do to protect the robot and themselves.
Right now, in such a collision - the robot gets pushed to the side and stops with emergency stop.
When they extract the part and want to move the robot out of station, the robot is moving in a rapid movement towards the origin target point - like 20-30 mm) and then stops again with an emergency.After that i can move it out of station normally. Is this normal? I thought so because the brakes freeze the momentum and when i release them to move the robot it snaps to the side. The customer is sure thats not normal but i dont know what to say.
And finally i do know i have to program without collisions. But some things are out of my range to affect... :-/
it sounds you are trying to patch the symptom rather than address the problem.
such collisions are stressful on equipment. i would consider investing into detecting obstacles or potential contact and letting program handle it automatically.
sensing things can be done differently and various options exist that could work a treat for many applications. at the very least use normal collision detection to stop robot. that does not prevent collision but reduces extent of contact and stress.
about the question... if the robot is moving because it is commanded to move, use programmed speed or override to dial it back...
Thank you. Now i implemented COLLDETECT and configured the used Data Set according to the values that appeared while running the program. This must be enough, cause you were right - i address the symptom of a poorly manufactured machine. Everythings shaky and not good enough fixed.
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