It is a GP50 with a YRC1000 controller. I can't do the automatic calibration due to the robot being inverted (or so I was told).
Posts by starkshark
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I am trying to set the center of gravity and inertia values for my material handling tool and it is leaving me with a couple of questions.
Do I need to set the center of gravity based on the TCP or from the center of the T-axis?
What axis' should I use to calculate the inertia? I am assuming use Ixx, Iyy, and Izz but around the center of gravity or what else.
Do I need to include a payload for tool setup as it can vary or can I add that somewhere else?
Thank you!!!
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It seems like you would be able to take your row number (I000) and multiply it by another variable that would be the Z-Offset. You could then SETE that new Z into position variables or you could use a SFTON for that entire row. The z offset would then only change each row and not each bottle.
You could also set up 7 variables for Z height and when the row is equal to its respective variable, you could set that variable to the shift or new Z heights.