I have a KR 120 R3100-2 KRC4 that has to pick up some aluminium pieces and I noticed during the trajectory that the robot oscilates.
I executed a trace and saw that the B rotation, the 4th and 6th axis oscilate.
The trajectory where I want no oscilation is just 10mm in the Z axis, and I'm not sure if this is normal, or if there's a problem with the software or hardware.
If you need more information or data let me know and I'll post it.
I have a KR 120 R3100-2 KRC4 that has to pick up some aluminium pieces and I noticed during the trajectory that the robot oscilates.
I executed a trace and saw that the B rotation, the 4th and 6th axis oscilate.
The trajectory where I want no oscilation is just 10mm in the Z axis, and I'm not sure if this is normal, or if there's a problem with the software or hardware.
If you need more information or data let me know and I'll post it.
don't know the answers to your questions bro,but i want to know how you executed the trace and get the graph like this?through workvisual?
don't know the answers to your questions bro,but i want to know how you executed the trace and get the graph like this?through workvisual?
I executed the Trace i the robot, like all traces, a trigger, activating the trace etc.
The chanels are from the KRCIPO.
Once you have the trace done, you need to export it from TraceManager into the USB.
In WorkVisual, in online tools, you have a trace viewer where you can inport a Trace, select the Trace from the USB and all done.
If the Trace is recorded while the robot is moving through the program, the points are saved like the ones you see in purple, if its done step to step, no.
not sure if values displayed are scaled or not. i would expect this behavior when robot is at or near singularity.
not sure if values displayed are scaled or not. i would expect this behavior when robot is at or near singularity.
Value are scaled and moved so that they appear next to each other, I could send the trace raw and no, the robot is not near a singularity excepting from axis 4 that ia working in 0º position, not sure if that can cause any trouble
Value are scaled and moved so that they appear next to each other, I could send the trace raw and no, the robot is not near a singularity excepting from axis 4 that ia working in 0º position, not sure if that can cause any trouble
Raw data might help. Though I admit it's been a while since I had to chart the raw data from a Trace file.
The way the KUKA O-Scope tends to auto-scale things can sometimes make small things look much larger, so you always have to keep a close eye on scaling. Especially since each line of the trace gets scaled individually.
A4 being near 0 should not normally be an issue. A5 being near 0 would be -- as A5 nears 0, A4 and A6 start being forced to do a lot more motion, more rapidly, for Interpolated motions.
What motion commands is the robot executing when this oscillation takes place? You mentioned a B rotation -- are you trying to rotate in place around the part?
Is this oscillation just in the Trace, or do you see it in the robot's physical motion? Is this on the changeover between LIN and PTP type motions? Many years ago, I encountered occasional quirks in the motion planner where the robot would pause and "wobble" oddly when changing between LIN and PTP, even with generous approximation values. Haven't seen it in a long time, though. What KSS version is this robot running?
