So, I think, that the easiest way to check wheather the reason of shaking is wrong payload data is to make oscillation without load on the flange of the robot. If the flange of the robot without a torch will shake during oscillation again, wrong payload data is not the reason of the shaking... I'm right?
Posts by lomaxe
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Hi, panic mode
The robot model is KL 60L30-3, KRC4 extended - 8.3.20
The data (mass, CG and interia) was calculated automatically and set by LoadDataDetermination. The first and teach offset mastering was made with EMD. -
Hi everybody.
I need help to solve a problem.
Maybe somebody have faced a situation, when during whelding with oscillation TCP of the robot is shaking. This problem is clearly visible on the videos below:This problem can be partially bypass if to change torch angle relative the workpiece.
But in general, the problem remains
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The problem was solved by using new version of WoV and STT.
Thanks. -
Hi everybody.
I have a problem with SeamTechTracking packet, installed on KRC4 extended 8.3.20. The picture of the WorkVisual project attached (project_1.jpg).When I want to configure installed on the controller SeamTechTracking packet, it gives me the error.(error.jpg)
I don't understand what is the problem, because all needed configurations, that are needed in WorkVisual, entered (project_2.jpg) and it's surely correct.
Can somebody help me with this situation?
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Hello Jonson and SkyeFire.
Thank you very much for trying to help me in this problem. I really appreciate it!!!
The problem has solved and the reason of the problem was simple and funny.
When I programmed CIRC motions, orienatation conrtol was set as WRIST istead of CONSTANT. So, when I set CONSTANT, the CIRC motions carried out well...
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Can you post your KRL codes here?
If your configuration about the ext axis is correct, the tracking motion should be the same as no ext axis. So check the base coordination which is used in your codes.Hi, Jonson!
I have attached KRL codes and file archive of the controller.workpiece_test - this code is for video named "Failed coord motion_1" (first video) in reply #6.
line_seam_test_3 - this code is for video named "Liniar path seam tracking usin coord motion" (second video) in reply #8I don't understand why, but I have the problem only with the circle path coord motions. Liniar path coord motions carry out very good
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Third, what means are you using to control the robot motion from the Meta sensor? RSI? Function Generator? FTC?All that I could find about hardware setup I have attached. But I'll try to find more..
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Hello, SkyeFire!
First, does this robot carry out coordinated motions with the external positioner without the Meta sensor?Yes, the robot carries out coordinated motions with the external positioner without the Meta sesor.
What is the kinematic relationship and/or integration between the external axis and the robot arm?
Can you explain what do you mean and how can I determine the kinematic relationship?
Second, how is this "circular motion" programmed? Are you trying to use CIRC motions, or something else?
I'm trying to use CIRC motions.
Third, what means are you using to control the robot motion from the Meta sensor? RSI? Function Generator? FTC?
As I can uderstand, RSI..but I'm not sure...
Fourth, have you tried setting up a test of the robot and sensor doing seam following without the external axes?
Yes, I have tried. I did it without external axes and with it.On the first video below you can see the test without esternal axis. On the second - with external axes using coordinated motion. But it was liniar path and other type of the seam. Evetithing work perfectly in that case.
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Some more experiments with Meta Vision System. I did it for the detail I should to track the seam on.
Coordinated motion, robot base=positioner’s base. Robot TCP fixed, the positioner is moving:
Coordinated motion, robot base=positioner’s base. Robot TCP is moving, the positioner is fixed:
Non-coordinated motion, robot base=any base except the positioner’s base:
I have atteched the images showing that the system tracks the seam very well when I'm doing the seam settings.
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First, you must make sure that when you move ext axis, the current position in the world coordination is variational.Сould you explain in more detail, please!
Second, you must make sure the vision system detecting the seam with the correct seam type and the track-point is stable.I'm sure,...
I have recorded two more videos and have taken pictures of the seam settings. We can see, that the system detect tracking point well: -
I so understand that meta is really problematic, especially with two axis positioners, and especially during coordinated motions....((((
I think....maybe with the sensor someting wrong... -
The problem, mentioned above, after some experiments, seems to me even more unclear. In some cases the tracking system works correctly, but mostly not:
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Hello everyone!
I have a problem with a circle path coordinated motion using meta vision system to correct the path.
To describe the problem more clearly, I have recorded videos.The problem is, when I try to make circle path coordinated motion using positioner and using seam tracking, it doesn't work correctly.
The first video shows what result I have:
https://www.youtube.com/watch?v=kVSd30cFrG4
The second video shows what I can see at Smart Laser Sensor Tools software when the system tries to correct the path:
https://www.youtube.com/watch?v=5nabnS_lUa8
The third and fourth videos show, that it works correctly when I program non-coordinated circle path motion and liniar path coordinated motion (usin positioner):
https://www.youtube.com/watch?v=f28zNHRrMTE
https://www.youtube.com/watch?v=-HYJ-9DPXYc
Have you any idea what the problem with circle path coordinated motion is?
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Hi everybody.
Has somebody documintation, discribing programming operators for Meta Vision System?
I intrested in those particular:SensorOnStat
SensorOnDyn
SesnorOffStat
SensorOffDyn
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