Hello again all,
I have finally gotten my robot to start doing stuff yay!
question about FT and RSI integration. I need to add extra filtering to the output of the ATI F/T Net box since im having terrible noise at around 600Hz due to mechanical vibration.
I currently have the IIR filters in the SensorInterface/FTCtrl/task.rsix which i know is incorrect and separate RSI functionality should be added under the /UserRSI folder with the same name to attach it to the process. However, Since i need to pass the filtered data to the ZeroGrav function i dont see a way i can get around just editing the F/T task. As a downside if the operator presses save on the FTCtrl task configuration on the pendant, or if i need to edit a value it completely wipes my filtering connections and i need to edit them everytime. If anyone knows how i can apply the filtering to the input of the ZeroGrav function block or another work around to adding filtering. (the built in ATI filtering doesnt do enough even at 5Hz)
Secondly, after applying my filtering and viewing the signals on the RSI monitor, my Force signals are no longer being zerod after starting up a FT task, i am 100% sure i have the option selected to zero them and was wondering if anyone else has experienced this.
Please let me know, i am curious to see others solutions to a noisy environment when they need precision for F/T control.
The input filtering has helped and when im running the motor attached to the sensor it doesnt oscillate ±70N around its setpoint.
This is how i would like to have the configuration of the FTtask, but this gets deleted if someone presses save on the KUKA pendant
and this is the resulting output of the ZeroGrav Function block:
as you can see they are not centered at zero, which is confusing me quite so...
without the IIR filters before the ZeroGrav function, the output of the function is centered at zero.
Regards,
Colton