Author Topic: Slow Speed Axis 6 (T)  (Read 244 times)

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Offline Jsapet

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Slow Speed Axis 6 (T)
« on: October 10, 2018, 08:08:28 PM »

Hello,

I have a problem with the speed of the 6 axis on the MH50 with the DX200.

When the axis 6 is moved linearly, it is very slow. I make a linear trajectory without axis 6, it is very fast and when I include a little rotation of the axis 6, it is very slow.

I do not understand!
Thank you for your answers

Offline Schnicktar

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Re: Slow Speed Axis 6 (T)
« Reply #1 on: October 10, 2018, 11:01:35 PM »
Do you have a VR speed that is set low?  What are the moments of inertia values (kg*m^2) in your Tool definition?

Offline Jsapet

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Re: Slow Speed Axis 6 (T)
« Reply #2 on: October 11, 2018, 04:18:52 AM »
Hi,

No VR set and no inertia value in tool definition (all parameter at 0)
The Movement are only MOVL V=1600......

Offline Reintz

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Re: Slow Speed Axis 6 (T)
« Reply #3 on: October 11, 2018, 05:02:08 AM »
Is the tool calibrated correctly? When you rotate the tool in tool cord. does it rotate around the actual TCP?

Offline 95devils

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Re: Slow Speed Axis 6 (T)
« Reply #4 on: October 11, 2018, 09:24:49 AM »
Verify correct tool data.  Set tool weight, center of gravity and moment of inertia properly.
Alcohol:  The cause and solution to all life's problems

Offline Jsapet

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Re: Slow Speed Axis 6 (T)
« Reply #5 on: October 11, 2018, 04:53:55 PM »
Reintz,
Yes the tool rotate correctly when i select it. The Weight, the center of gravity and moment of inertia are not set.

For the Weight is easy but the other, How can i do?

Extract of Tool.CND
//TOOL 7
///CRC 1606245591
///NAME OUTIL_DEGRAP
0.000,0.000,211.420,0.0000,0.0000,0.0000
0.000,0.000,0.000
0.000
0.000,0.000,0.000
0.000,0,1

Offline 95devils

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Re: Slow Speed Axis 6 (T)
« Reply #6 on: October 11, 2018, 05:22:57 PM »
Go to ROBOT, TOOL.  Assuming you only have one tool, go to UTILITY, W. GRAV POS MEASURE.  Press and hold FWD until the Home icon fills in.  Let go of FWD.  Press and hold FWD again.  The robot will go through a dance.  When complete, press REGISTER.  Write data yes.  This will calculate the weight and center of gravity.  Moment of inertia you will have to calculate.
Alcohol:  The cause and solution to all life's problems

Offline Jsapet

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Re: Slow Speed Axis 6 (T)
« Reply #7 on: October 11, 2018, 06:03:18 PM »
OK, thanks. I'm trying Monday and I'll make you a return

Offline Jsapet

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Re: Slow Speed Axis 6 (T)
« Reply #8 on: October 15, 2018, 06:37:47 PM »
Hello,

It's perfect. thanks a lot to everyone. :merci: