Hi!
Sometimes I have error "Workspace error" during linear motion. Trajectory isn't const, I shift it but shifts are small and I check it for reachability.
Why does this error occur? I don't find description in docs.
I don't use WORKSPACE.
Is it something wrong with configurations?
Posts by Vlad222
-
-
Hi all!
I've done mastering with EMD device for new KUKA KR8 R2100 ARC HW 2 months ago. I didn't use robot a lot...about 2 hours in a day.
I have problems with accuracy. And I decided to check mastering. And there was errors: axis - 0.04 deg, motor - 5 deg. I master it two times for checking repeatability. Result was the same.
https://imgur.com/ZjpSB32It's 0.7 mm at 1 m distance. It's very bad for me. Why is it? How often I need to do mastering?
Axis 2 had 0.01 deg error and other axes had smaller error.
I have wall mount of robot. -
Hi all!
Can I switch robot from T1 to EXT or EXT - T1 remotely without teach pendant? For example by PLC. I use RDP connection to robot and virtual teach pendant but I can't switch modes from it. I understand that it isn't safe.
And also can I reboot KR C4 remotely using PLC. Or may be by setting FLAG or DO from robot? -
Hi!
We have device on KUKA KR16 R2010 (3-rd link). It endures 2G acceleration. What is the max deceleration while emergency stop at link 6 or link 3? More / less than 2G?
-
Hi!
I have solution for 6DOF standart robot. Something like that:
http://modular-machines.at/ima…hines/pub/BraAngHof14.pdfNow I need IKP for high accuracy FANUC. It has 24 not null DH parameters and analytic solution is very complex.
May be someone has this solution?What is the solution of IKP in FANUC, KUKA, ABB, YASKAWA? Analytic or numerical? For standart and HA robots.
-
The acceleration is most likely in deg/s^2.The only other possible unit I can think of would be rad/s^2 but I have never seen radians used elsewhere with Fanuc so I would bet on deg/s^2. It would be helpful to know which robot model you are looking at.
Fanuc M-710iC/45M
-
Hi all!
I need to know accelerations of joints. I find them but I don't understand what units there are.
Somebody knows may be?I looked also at velocities and they are strange - bigger 3-4 times. It isn't deg/sec.
-
Well I would assume it's because of number of calculations that CPU needs to perform during this task.For every point it has to calculate speed, that's possible to achieve between the points and CNT (even though it's a straight line)
It is interesting. How much time is needed for point calculation?
Now is 8 / 800 = 0.01 sec. -
I think it is because the speed is not fixed but in a variable.
Every next line the program will have to check if the variable is changed, so it will stop at the end of each line.
Try to set the speed with a fixed number.Yes, it's very helpful! 2 sec instead of 13 sec for path with CR100
But we still have a question...why robot moves between only 2 points faster than between them with intermediate points (with smoothing CNT100 or CR...)
I created new topic for this question:
https://www.robot-forum.com/ro…h-large-number-of-points/ -
Hi, all!
I have 2 linear paths: with 2 points and with 100 points. Start and goal points are equal. Velocity is 800 mm/sec. Distance between start and goal - 800 mm.
1-th path. 2 points (start and goal). Time is 1.0 - 1.1 sec. It's normal because of acceleration / deceleration.
2-nd path. 100 points - (start and goal are the same as in previous path) + intermediate points on a straight line with const orientation. Distance between points is 800 / 100 ~= 8 mm. Time of program execution is 1.55 sec. It is 1.5 time slower. Why? 8 mm between points is not very big distance. Smoothing is CNT100.Fragment from program:
Code
Display More... 46:L P[34] 800mm/sec CNT 100 ; 47:L P[35] 800mm/sec CNT 100 ; 48:L P[36] 800mm/sec CNT 100 ; 49:L P[37] 800mm/sec CNT 100 ; 50:L P[38] 800mm/sec CNT 100 ; 51:L P[39] 800mm/sec CNT 100 ; 52:L P[40] 800mm/sec CNT 100 ; ... P[35]{ GP1: UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0', X = -504.536 mm, Y = 1505.755 mm, Z = 1391.905 mm, W = 103.564 deg, P = -19.290 deg, R = 175.131 deg }; P[36]{ GP1: UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0', X = -504.536 mm, Y = 1504.201 mm, Z = 1383.438 mm, W = 103.564 deg, P = -19.290 deg, R = 175.131 deg }; P[37]{ GP1: UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0', X = -504.536 mm, Y = 1503.049 mm, Z = 1373.416 mm, W = 103.564 deg, P = -19.291 deg, R = 175.131 deg }; P[38]{ GP1: UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0', X = -504.536 mm, Y = 1501.321 mm, Z = 1362.011 mm, W = 103.564 deg, P = -19.291 deg, R = 175.131 deg }; P[39]{ GP1: UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0', X = -504.536 mm, Y = 1499.766 mm, Z = 1353.198 mm, W = 103.564 deg, P = -19.291 deg, R = 175.131 deg }; ...
-
: )
Why robot have so bad performance with CR100 (it isn't CNT, it is CR, we use option "Advanced motion package")?
Example:
38:L P[26] R[11:L]mm/sec CR100 ; -
We use option Advanced motion package.
I still have perfomance issues on my trajectories so i made test programs with 3 trajectories with Timers to understand how CNT and CR works.
On the first screenshot i show 3 trajectories, first left contains 2 points, distance between them is ~800mm
2-nd in the middle slighty longer. It is for understanding how robot will smooth trajectory.
3-rd in right is the same as first but with 89 points (~ one point for each 9 mm)Linear move speed set for 800mm\sec - Data register 11
CNT setup from Data register 10So then my screenshots from Roboguide with result of this timers -
First trajectory in every case executed for about 1.0 - 1.1 seconds, so if we think with speed 800mm\sec trajectory with 800mm length should be executed close to 1 second. So this 0.05 - 0.1 sec error is normal for acceleration and deceleration.But 3-rd I can't understand
CR100 - means that robot should smooth movement in radius of 100 mm, so at straight line it should move on max possible speed and i need got also about 1.1second for trajectory, but i got 13.44 !!!
CNT50 ? what its means? 50% of maxumum speed? if so why i got 8 sec and not 2 sec?
CNT100 ? what its means? No deceleration? Okay, why i got 1.55 and not 1 second as in first trajectory?P.S.
Real robot execute this trajectories same as Roboguide. So test is robustFor understanding why i need this tests
I have a task with a lot of points for painting that should executed on high speed like 600 mm/sec - 1000 mm/sec
And a lot of parts have complex geometry so i need a lot of points on trajectory to make good paint. -
Hi!
I need smoothing for movements with radius. I use CNT but the physical meaning of CNT is the percent of desired velocity required at waypoint.
And the positioning error while using CNT is unknown. Where can I find smoothing with radius? Something like CDIS in KUKA. -
Hi all,
I am doing remote control of FANUC with automatic path planning at external computer. And I have problem with:
QuoteMOTN-017. Limit error (G:1, A2,3,4)
It is not usual limit error. Robot isn't outside limits. It is interaction limit error (FANUC collision checking). Where can I get formulas for checking these interaction limits? I need to check them in my program at my external computer because I should send to robot only valid points.Now I have only normal limit checking and CAD collision checking in my program. Of course I can make padded CAD models but it is better to use formulas equal to code from FANUC controller.
-
Hello all,
We have welding robot with scanner. Scanner has guarding glass but we often need to change it because of black soot and metal drops. What is the best way to overcome the problem? Blowing air? But It blows off welding gas. Move scanner to 90 deg from torch because we use only off-line scanning?
-
Hi all,
Why do paint robots have different kinematics (angle between 4 and 5 axes is 45 degrees (not 90 deg).
Is it for avoiding singularities?
What advantages and disadvantages of this kinematics? Why does this kinematic scheme used only for paint robots?
-
Hi all,
I want to use 6DOF FANUC with 1DOF linear axis (Mitsubishi motor) for synchomotion (welding large beams). Is it a good idea to use not FANUC linear axis for synchro welding? Does FANUC have option for it or can I do it without option?
-
Hi all,
I have KUKA KR120 R2500 pro with magnet. I want to set $OUT to this magnet but I have only EK1100 with profibus master/slave. What is the easiest way to control the magnet without purchising Beckhoff?
-
Hi all,
Does FANUC have a flag (signal) that shows is it a real robot or robot in Roboquide?
-
Hi all,
Does ABB have a flag (signal) that shows is it a real robot or robot in Robotstudio?