Speed too low / Speed Error

msalminen

Hi,

I have IRB6600/2.8, IRC5 (5.09.01) robot and having problem with it.

In some location of space I get errors either 50141 or mostly 50171. I am running automatic cycles, and robot is NOT near singularity. There are no external axes. I got these errors in very small region of space.

I have block of glass sheets where I have to pick one sheet at a time. In the beginning of block I can pick some sheets without problems, but after few sheets I start to get these errors, when I somehow get few more sheets picked the rest of the block I don't have any errors or problems. So it looks to me that there is in this little region of space problems for robot to interpolate robot path.

 

  ! SpeedData
  VAR speeddata vRot:=[100,10,5000,1000];
  ! Tool- and WobjData
  PERS tooldata toolDownLeftSen:=[TRUE,[[0,492.5,390],[1,0,0,0]],[30,[0,0,200],[1,0,0,0],0,0,0]];
  PERS wobjdata wobjRack:=[FALSE,TRUE,"",[[680,1750,920],[0.707984,-0.03691,0.0371038,0.704287]],[[0,0,0],[1,0,0,0]]];

This is the code where the errors comes. The problem is in SearchL.

        ! Get the upper sensor off the glass
        pCurr:=CRobT(Tool:=toolDownLeftSenWObj:=wobjRack);
        SearchLSStop,DiSenUpFlanks,pCurr,RelTool(pCurr,0,0,0Ry:=- 10),vRot,toolDownLeftSenWObj:=wobjRack;

pCurr values are: x is near 200, y is zero and z from 200 to 300

I have tried to change the speed, I have tried to use smaller PathResol. Tried littlebit change the tool position (variation of z values).

Any help appreciated.

Mika

lj.stefan

Hello,

I have the same problem with the IRC5.

i have fixed it when i move after the searchl comand back to the searched position .


i use allways a new robtarget to store the searched position
then i move back to this position.

it is very important to init this position first ( in case of search error )
to move back to a controlled position




i have searched in the help for this case but have found no other solution ...

best regards stefan

lj.stefan2007-10-9 22:8:41