Activity for gseidel
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gseidel posted a comment on discussion Motion
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...