Calibrate Turn-/Tilt-Table with 4 points for 2 axes
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.
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
We need the 4 points methode to calibrate the table correct.
Best regards
Marcel
0
Comments
-
Page 100 of the Application Manual - Additional Axes and Standalone Controller document this process.
0 -
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
Marcel0 -
-
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
Marcel0 -
Hi
I am using now:#ROBOT_TYPE:-name "Robax" -type "ORBIT_160B_1" -error_model "ERROR" -no_of_joints 2So we don't need to ad the positioner to the system, because this gives us some other side effects.
Best regards
Marcel0
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