Calibrate Turn-/Tilt-Table with 4 points for 2 axes

Marcel

Hi

We have defined a 2 axes turn-/tilt-table as a robot in the MOC.cfg parameter to use the table for a coordinated moving workobject. But the used ROBOT_TYPE: "GEN_KIN" does not allow to calibrate with 4 points for the 2 axes as it would be for a IRBP-A ABB turn-/tilt-table as STN1.

 #

MECHANICAL_UNIT:

     -name "Robax" -use_activation_relay "ROTATION" -use_brake_relay "ROTATION_brake"\

      -use_robot "Robax" -allow_move_of_user_frame \

      -activate_at_start_up -deactivation_forbidden

#

ROBOT:

      -name "Robax" -use_robot_type "Robax" -use_joint_0 "TILT"\

      -use_joint_1 "ROTATION" -use_joint_jog "Robax"

#

ROBOT_TYPE:

      -name "Robax" -type "GEN_KIN" -error_model "NOMINAL" -no_of_joints 2

We need the 4 points methode to calibrate the table correct.

Best regards
Marcel

xerim

Page 100 of the Application Manual - Additional Axes and Standalone Controller document this process.

Marcel

Hi xerim

Thank you for that information. So it looks like we would need a parameter file. We build the turn-/tilt-table ourselves. Is there any documentation about that parameter file? How has this to be loaded into the robot controller?

Best regards
Marcel 

xerim

The parameter file you are looking for is the MOC.cfg file. You need to add something like this:

ROBOT_TYPE:

-name "STN1" -type "IRBP_A" -error_model "ERROR" -no_of_joints 2\

-par_id_type "irbp_a"

You would of course need to swap out the names given to the parameters to match your current system. 

Marcel

Hi xerim

I was successful with:

ROBOT:
      -name "Robax" -use_robot_type "IRBP1_A500_D1000" -use_joint_0 "TILT"\

      -use_joint_1 "ROTATION" -use_joint_jog "Robax"

ROBOT_TYPE:

      -name "Robax" -type "GEN_KIN" -error_model "NOMINAL" -no_of_joints 2

That worked after I had added the positioner: IRBP A500 D1000 to the system after adding the positioner to the RobotWare.

I will also try your ROBOT_TYPE.

Best regards
Marcel

Marcel

Hi

I am using now:

#

ROBOT_TYPE:

      -name "Robax" -type "ORBIT_160B_1" -error_model "ERROR" -no_of_joints 2

So we don't need to ad the positioner to the system, because this gives us some other side effects.

Best regards
Marcel