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

Marcel
Marcel Switzerland ✭✭
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

Comments

  • xerim
    xerim
    edited May 2021
  • Marcel
    Marcel Switzerland ✭✭
    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 
  • 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
    Marcel Switzerland ✭✭
    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
    Marcel Switzerland ✭✭
    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