I have a problem with a robot, that when it is following the weld joint with the laser sensor, bettewen corrections come in, it ends up having a lot of sudden movements, and this causes it to stop due to the excess speed between the joints, already I read some manuals and I believe this problem is in the correction sensitivity but I don't know where to fix it.
kawasaki RA006L-A001 problem of sudden movements in laser tracking welding
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Willy Nelson -
December 20, 2023 at 6:23 PM -
Thread is Unresolved
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Nation
December 20, 2023 at 6:40 PM Approved the thread. -
kwakisaki
December 28, 2023 at 6:24 PM Moved the thread from forum other Cobots to forum Kawasaki Robot Forum. -
Welcome to the forum...........
I don't know where to fix it.
Neither do we as you have not provided any relevant information such as:
- Controller used.
- Laser unit used.
- What error is being produced on the robot.
- No description of your setup or configuration.
- Who installed and configured this, have you contacted them at all.
- Was this working before and suddenly problems occur, or is this during commissioning.
- How the laser information is being applied and exchanged between controller and laser.
- Is the posture of the robot causing this in terms of close to singularities etc
- Is this issue repeatable during the same motion steps each time, or random occurrences at anytime.
- Code snippets where the problem occurs, such as program step no and command instructions.
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Code
Display More-E series controller - the error that appears "Command value for *joint* changed suddenly" - a variation occurs during the welding path - the robot in question has 9 axes, the 7,8,9 of which are external - I've already contacted whoever installed it, but they won't give me a refund, and calling them here would cost extra money - the camera in question is power-cam/hs from servo robot - also discover that when the "LTBIAS 0,0,0" bias values are increased to more than 1.5 mm, or less, the same error reported above occurs and in the previous robot the values could be adjusted to more than 5, or -5 and this creates a problem in my work
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- Was this working before and suddenly problems occur, or is this during commissioning.
- How the laser information is being applied and exchanged between controller and laser.
- Is the posture of the robot causing this in terms of close to singularities etc
- Is this issue repeatable during the same motion steps each time, or random occurrences at anytime.
- Code snippets where the problem occurs, such as program step no and command instructions.
So what about the other questions I asked?