Yes, I use the approx motion as much as possible, but when picking up the part, I have to stop fully, close the grippers and then back out. In this motion I have low ACC and TORQMON but still sometimes it breaks the part, even moves the whole conveyor if the part gets stuck in the fixture on the conveyor.
I am just surprised the the TORQMON inactive period is that loooong
I would assume, the motion model would count with these acc spikes.
Is there any other trick besides slow acc and speed ?
Thanks.
Posts by jirikk
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Hi,
this is what I found in KUKA manual:
High axis torques arise when the stationary robot starts to move. For this
reason, the axis torques are not monitored in the starting phase (approx.
700 ms).
Does it mean that first 0,7s (!) after stop, the robot can move with max load (without stopping) even though the torqmon is set low?
What can I do to protect a fragile product when robot picks the product from a fixture? I dont want to use a super slow movement as we need a fair cycle time.
Thanks. -
Hi,
i haven't exchange all TP, only something inside, it cost around 900 CAD. but to exchange TP for new one... no idea, but I think more then 1500$. Since this repair was not urgent, I did not push them to repair it ASAP. -
HI and thanks a lot to for advices !!!
Finally I had to send the TP to kuka to change some part, but it was not expensive.
J. -
Hello,
I need to disassemble the teach pendant KCP2. Does anyone have some manual or advices how to ?
Thank you very much !!!
J.M.