Posts by Galet

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I have a question, is there a maximum blending distance? Does controller ignore leave and reach (or set them to predefined values) if I put in a very large number, say 1000.0 for blending?

When the robot is moved from A to B, the Reach from A + Leave from B is reduced to the distance [A,B]. So, if [A,B] = 10 mm, the blending is automatically reduce to 5 mm even if the value is bigger !

But if the tool is already in the sphere, and you send a new point in the same sphere, without waitEndMove(), I think the robot don't move, because it is already in final position.

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As for setting the blend to OFF, it is easier for me to change blending distance as I already change them for some points to speed up the process where the movement to or from a certain position (like default position) need not be exact.

You can use different mDesc...

...

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Thanks both of you. The problem was in fact that blending was enabled. When I put blending distances to 0.0mm both movel and movej rotated the full wanted amount.

It's not a surprise ! When the tool is in the blending sphere, the controler declare that the robot is in position. This function is not depending to the angle !

Rather than set the blending values to 0, can you try :

- to set the mNomSpeed.blend to OFF before the movement.

or

- to add a WaitEndMove() after the Move_()

What's append ?

Have a nice programming day...

Hello AK,

You have different solution to rotate around the center of the bottle :

- When the gripper is above the bottle, the Tool (tTool) is positionned in the center of the bottle. You can turn with Appro function (probably arround Rz). In this case, be carreful that the blend of the movement is OFF. The movement need to be a MoveL.

- When the gripper is above the bottle, the Tool (tTool), is on the edge of the bottle. You can turn with MoveC function.

- You align the Axe6 of the robot with the axe of the bottle. You can turn directly with moveJ on axe 6. (Convert the reference point and change the .j6 data)

To solve the problem, put the bottle in fixed position and try to write the program with fixed position of the robot. After that, you can try to change the position to be sure that all the configuration is correct. The last step is to receive the position from the PLC.

Other information :

When you use a TRSF, the rotated values are limited to [-180°,180°], not to [0°,360°] !

Have a nice day...

Hi to all,

The difficulty is not to read the speed or the joint force but to compare to the truth value... and to have anought time to react.

For that, you need just a low speed.

If you want to avoid a collision with the protected area, I think you make a mistake, the solution is to reduce the collision risk.

Everyone want built an highspeed cobot but safety and speed are not compatible... It's the reason why a cobot is lowspeed and an industrial robot have an arround protect.

Have a nice WE !

Hello AK,

There are many differences between SRC6 and SRC7. I don't know if some concern your test...but it's very important information (my test was with SRC 7).

I don't anderstand why you try to have Alter functionalities without the option... or Traking functionnalities without the option... Probably your application is little bit confidential (:))

I think that the best next step for you is to contact directly Stäubli services (Between 6.8 and 7,probably an Upgrade of your controller is possible...perhaps to 7.6 )

Have a good day,

Hello Ak,

I don't know why my result seems correct and not yours...

Quote

the encoder has few impulses

Have you lookeed from the side of Tracking function ? The mobile frame can be a good solution...

Hi Ycrideas,

Look for "getJointForce" (or AddOn Motion + getJntForce)) but the precision is not very good.

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The joint force is not a direct estimation of external efforts. It also includes gravity, friction, viscosity, inertia, noise and accuracy of current sensors, relation between motor current and torque. It can be used to estimate external efforts only by recording forces in reference conditions, and comparing them with forces measured in similar conditions with additional external efforts.

For CS8, you have an example on Stäubli website "detectCollis" (or something like that) but I never use it !

For CS9, I think there is a WhitePaper and an application ...

Have a good day...

posDist = distance(Pos, Pos_LC)
if posDist > posDistTrig then
  movej(Pos, tTool, mNomSpeed)
  Pos_LC = Pos
endIf

is best if you want to memorize the distance between the last mouvement and your actual coomand. You need to initialize Pos_LC.

The robot's factories give, for industrial robots, only repetability (ABB/KUKA/Fanuc/Stäubli...) If you need realy precision, you need to ajust the kinematic to the real arm...and you win an Absolut robot.

Ok, the simulation is only a simulation, to control the real position, you need the real arm. But to solve the guidance, I think the simulation give you the same result.

Fundamental problem : Ask to Stäubli technical service.

My opinion is that, for your test, it's not possible to have the same value in the blending and in the posDistTrig. Can you try with posDistTrig=0.3 mm ?

For you application, you need a relative movement or an absolut position ?

Best regards,

Hi,

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The arm has precision of 0.02mm, so 0.1mm it should have, it is a whole order of magnitude larger.

The repetability is 0.02 for this arm ... but not the precision !

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If I understood correctly your test was a simulation in SRS, and was not downloaded to actual robot controller? From my experiences with other simulation software, like KUKA and Motoman the simulation is not complete and the robot controller behaves differently during edge cases than simulation would suggest.

On SRS, if you load the good Emulator and use correct Payload, the simulation is the same as the real robot. I use SRS because I don't have always the robot...aned the PLC with Profibus.

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Precisely the strength of alter function as opposed to any simulation. It is quite impossible to use third-party controller to make the CS8C alter the position real-time, as opposed to simply adding a new position.

I don't anderstand...

Have a nice day...

Ok.

Are you sure that the speed of Profibus is anough to control the position "In real Time" ?

Is your robot "Absolut" to respect a precision like 0.1 mm ?

I understand that, for you, this test is first Step...

You can reduce the nStep Value to 0.2 mm but it's not logic to have 0.1 mm in the blending function.

In my test, i use moveJ and no problem in the movement. I think the difference is in the approximation calcul between Joint or Linear mouvement.

Singularities : 500 mm/s is a problem for singularities positions !

The Alter function don't move the robot to a absolut position but modifie the position with an offset or vector.

What the position of Stäubli Services about your (medical ?) question ?

Best regards

Hello,

I try this program :

The Start()

begin
  resetMotion(jInit)
  waitEndMove()
  
  // Waiting Init AI
  pPos = here(tTool,world)
  wait(abs(aioGet(aiValX)-pPos.trsf.x)<nStep and abs(aioGet(aiValY)-pPos.trsf.y)<nStep and abs(aioGet(aiValZ)-pPos.trsf.z)<nStep)
  
  taskCreate "Mvt",100,tskMvt()
  wait(taskStatus("Mvt")==1)
  
  do
    setMutex(bMutex)
    pPos.trsf.x=aioGet(aiValX)
    pPos.trsf.y=aioGet(aiValY)
    pPos.trsf.z=aioGet(aiValZ)
    bMutex=false
    
    delay(0)
  until false
end

And the tskMvt()

begin
  pAct=here(tTool,world)
  while(true)
    if distance(pAct.trsf,pPos.trsf)>nStep
      setMutex(bMutex)
      movej(pPos, tTool, mNomSpeed)
      bMutex=false
      pAct=pPos
    endIf
    
    delay(0)
  endWhile
end

nStep Value is 0.5 mm

mNomSpeed.blend is Joint

mNomSpeed.leave=mNomSpeed.reach are 0.1mm

On simulator (SRC 7.11.2) the mouvement is correct.

The problem is, in this concept, to change directly the value. If I add 100 mm to X and, during the mouvement, I add 100 to Z, the variation are not simultaneous.

I think the best is to define X+, X-, Y+, Y-, Z+ and Z- buttons (Digital Inputs), to change, step by step the value.

Have a good day,

Hello,

Ok. If I have time, i'll make a small test with your program. What's the speed of the data variation from the PLC ?

What's the reason you don't want to use Alter ?

Do you know that you can activate, for test, all option in Demo Mode ?

Best regards

Hi,

Can you try with synchronous task ?

Have you try with Alter function ?

Best regards...

Hello,

Some general informations about Alter :

On CS8/CS9, you have a special task to manage the robot movment.

In your Movement() program you repeat all the time a new movment even if you don't change the value !

In this case, the robot execute same position as if it weren't moving.

1- You can control that the position is changing before to send a new position

2- It's bad to have a loop (even if you configure the task with low priority) without delay()

Try

begin
  pPosAct=here(tTool,world)
  // or : pPosAct=Pos
  while true
    // Control the distance
    if distance(pPosAct,Pos)>0.02
      pPosAct=Pos
      movej(pPosAct,tTool,mNomSpeed)
    endIf
   delay(0)
  endWhile
end

Be carefull, because you don't control the PLC transmission ! If the receive wrong value, the robot can become dangerous !

Other solution : To use Alter function...but you need option on the controller.

Have a good day !

+1 for Johnsenfr.

num $rand() : SRC 7.3.1+

num $randn() : SRC 7.6+

in Expansion addon...

Hello,

On SP1 (CS8 / before SRC7), you need to clear the display (cls()) and rewrite the new page.

On SP1 (CS8 / SRC7.xx.xx) you can have different page and change with Userpage(scVariable) (scVariable is Screen type)

On SP2 (CS9) you can create as much as you want with SRS in Interface. You can create menu and change with Userpage("PageName").

I never us, in robot's program, random Number. Can you explain us why you need this function ?

Have a good day...

The door control is composed by 2 contacts (Safety signals).

For all safety fonctionnalities (Emergency Stop, Doors...) the 2 signals need to arrive (and leave) in the same Time.

Be sure that the 2 contacts of the doors are Ok (Solve the electrical issue)

and before to aknoledge the issue, you need to open the 2 circuits and, after, close the 2 circuits (Normaly, you open the door and close the door).

...

Hello,

Be carreful that, to show to the controller that the fault is finish, you need, for the doors signals :

- solve the electrical issue.

- commute the controller in Automatic Mode (because the doors are not controlled in Manual Mode!)

- Open and close the door

- acknoledge the default on pendant.

Have a good day...

Hello Ycrideas,

With Val3, it's really easy to build workspace...but you need to program all the functionnality (even if i remeber that you have an example on the Stäubli webside).

First is to decide if the workspace is to protect human (and you need to use Safety functionnality) or not).

In the second case :

- Read the robot position (hereJ() or here(...). You can read the joint position or cartesian position of all tool in all frame.

- Compare the coordinates memorized to the volume (all form, in all the frame you want)

- Send the result to a bool variable or directly to an Output.

- If you want, you can add this calcul in a "loop" program called in a task (taskcreate)

For example, for 1 cube, the program WorkSpace()

begin
  do
    // Memorize the position 
    l_PosAct=here(tGripper, fMachine)
    
    // Control the coordinates
    bInCube=true
    bInCube=bInCube and (l_PosAct.trsf.x>110 and l_PosAct.trsf.x<210)
    bInCube=bInCube and (l_PosAct.trsf.y>120 and l_PosAct.trsf.y<220)
    bInCube=bInCube and (l_PosAct.trsf.z>130 and l_PosAct.trsf.z<230)
    
    // Send or memorize the result
    doOutOfCube = bInside==false
    
    delay (0)
  until false
end

To run the functionnality :

taskCreate "WorkSpaceTsk",100,WorkSpace()

With this method, you can create all the form, as much as you want...

Have a nice day...