Activity for gseidel
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gseidel posted a comment on discussion Motion
Hi tonis2, good, I'm glad we found the problem! In your video, did you just jog downwards in z-direction? That is, the movement that goes up again should not happen? If you use SMC_GroupJog, effects like this may happen if the velocity/acceleration/jerk of the virtual axes used for jogging are too high. Then the robot cannot follow and as a result may leave the straight path. Georg
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Hi tonis2, I investigated further, what seems to be the problem is the direction of rotation of the axes. Please change the direction in the scaling/mapping settings of the SoftMotion drives, so that moving the axes in positive direction will turn the upper arms upwards, not downwards. (This information is missing from the documentation of Kin_Tripod_Rotary.) Also, it seems that the documentation of the machine coordinate system of Kin_Tripod_Rotary is wrong: The z-axis is pointing upwards, not downwards....
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Hi tonis2, I think I have an idea what could be the problem: the order of the drives in the axis group editor. Say your drives are named like in the photo "AxisName.jpg" I attached, could you please give the order in the axis group editor as shown in "AxisOrder_Editor.png"? Georg
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Hi tonis2, thanks a lot for the photos. Given that the lengths are correct we need to find the reason why the tcp moved down by only 5 mm when moving the first axis by 20°. I expected almost 20 mm. Furthermore, the movement of the TCP in x-direction seems to match the expectation quite accurately. Could you please repeat the same experiment, but this time move the first axis to -20° instead of +20°? I would expect an x-movement in the opposite direction (+78 mm) and a z-movement upwards by 9.5 mm....
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Hi tonis2. yes, could you please send me photos where I can (approximately) check the distances? In particular, I'm interested in how the motors are mounted at the top of the robot (dArm1Radius) and the direction of the first arms (are they radial around the z-axis?). Thanks, Georg
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Only number (1) is off from the expected values. It should have moved by 19.7 mm. What exactly does "-5 mm" mean? In which direction did it move?
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OK, to narrow the problem down, could you please start all axes at 0° and then move the first axis to +20°. Is it possible for you to measure the following distances between the initial position and the end position? 1) Distance in Z-direction: the TCP should move downwards by ca. 19.6 mm 2) Distance in X-direction: the TCP should move in negative X direction by ca. 67.7 mm 3) Distance in Y-direction: no change expected 4) Movement of the joint between arm1 and arm2: it should move down by ca. 44.5...
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OK, to narrow the problem down, could you please start all axes at 0° and then move the first axis to +20°. Is it possible for you to measure the following distances between the initial position and the end position? 1) Distance in Z-direction: the TCP should move downwards by ca. 19.6 mm 2) Distance in Y-direction: the TCP should move in negative Y direction by ca. 67.7 mm 3) Distance in Y-direction: no change expected 4) Movement of the joint between arm1 and arm2: it should move down by ca. 44.5...
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Hi tonis2, OK. Anything else going on in your application, apart from the jogging function block? Did you rotate the MCS relative to the WCS? Are you jogging in MCS or WCS? I know you already did this, but let's once more check the parameter values of the transformation. In the attached screen shots from your videos and photos, I drew some lines to indicate how I think the values should be measured. dArm1Radius: measured from the center point of the three motors (axis of rotation of the C-axis motor...
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Hi tonis2, SMC_InvCoordinateTransformation3D is a function block of our CNC solution. GroupJog and MoveDirectAbsolute, on the other hand are part of our Robotics solution. If you use Robotics, you can use MC_SetCoordinateTransform to define an offset and relative rotation between the world coordinate system (WCS) and the machine coordinate system of the robot (MCS). If all checks I proposed succeed, and all parameter values of the transformation are correct, then I cannot explain why the robot does...
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Hi tonis2, did all checks I suggested succeed? (Jogging of single axes, direction of axes, ...) One more thing to check would be the scaling/mapping of all drives: are they configured so that one user unit in SoftMotion corresponds to exactly 1 angular degree?
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A picture of the robot might be helpful.
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Hi tonis2, if the axes are turning in the right direction and the zero position of the axes is correct, then I think you need to double check the parameter values of the transformation. You said you double checked the values, but maybe the values you have are measured differently (from different positions) then the value the transformation expects? You could also check what happens if you move all axes to zero and then jog each axis independently. I would expect the following from the output of MC_GroupReadActualPosition:...
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Dear tonis2, the first thing I would check is this: do you home your axes in such a way that their zero-position corresponds to all arms being horizontal? Second, did you first test without the coordinate transform? The zero point of the MCS (machine coordinate system) for Kin_Tripod_Rotary is not in the plane of the motors but on the tool plate when all arms are at zero (horizontal). If all parameters are correct and the zero position is correct, then the only thing I can imagine is that maybe the...