That's 510 mm per second. Also, the acceleration time is set to 0.1.
Posts by ksj
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thank you
I'll check.
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Servo gripper overload related
Hello
Please inquire about servo motors.
Currently, E03, CP180L robots are being used, and a servo gripper using a 1kW servomotor is being used. (JT7, reduction ratio 1:20)
How to use is as in the picture.
Situation 1
- When moving as much as the box size by position control, a servo motor overload error sometimes occurs. (Product deviation -3~3mm)
Question 1
- Is it possible to turn off position control and maintain grip when reaching a certain torque value (current value) after delivering the position control command to a certain position?
(to prevent servo motor overload error)
Question 2
- If question 1 is possible, what AS commands or reference manuals can be controlled?
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If this is the case:
- Create a file save and post it here on the forum.
- If you are concerned about company IP, then you can send it via 'conversation'.
- Provide the EXACT model no for the fitted arm (as per rating plate from the fitted arm).
- Provide the EXACT model no for the fitted controller (as per the rating plate from the controller).
- Is the ZX being re-purposed from a previous application?
I have attached the material as a conversation.
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jt4 is zeroed at the gauge mark point. When I zeroed jt5 and jt6, I found that jt4 was rotated by -180 degrees.
The rs20n robot was just ready, zeroed jt4 at the gauge mark point, rotated -180 degrees, and then reset and zeroed jt5 and jt6 encoder counts, but the current and set values match normally.
I reproduced the same situation, but the results are different.
Manufacturing date
ZX165L : 2011
RS20N : 2019
ZX165L Setting value Current value JT1 268428701(zero mark) 268428701(0˚) JT2 268433948(zero mark) 268433948(0˚) JT3 268432487(zero mark) 268432487(0˚) JT4 268428520(zero mark) 267872692(-180˚) JT5 268427127(zero mark) 268434274(0˚) JT6 268425858(zero mark) 268432546(0˚) -
Thank you for answer.
Zeroing jt4 at -180 degrees seems to be a problem.
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Thank you for answer
Zeroed after encoder count rotation reset.
jt1 ~ jt4 also proceeded in the same way, but the problem occurred only in jt5 and jt6.
Are there any problems other than zeroing after resetting?
In the state that jt4 is rotated by -180 degrees, jt5,jt6 encoder count is reset and then zeroed.
Could this part be the problem?
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Hello
I joined for the first time.
I'd like to inquire about a phenomenon that I've never seen before.
Model: ZX165L
controllers:E-CONManipulation Content
1. Encoder Rotation Reset
2. ZeroingProblem situation
1. The encoder settings of JT5 and JT6 at zero point are different from the current values (JT1~JT4 are the same).
2. e.g.) Large numbers other than 1-10 such as the set value of 268411111 -> the current value of 268433333 are different.
If the encoder rotation was reset and zeroed, shouldn't the encoder's current value and set value be the same at zero point?It also matches zero position when operating in zero degree position.
What is the cause?