IRB 140 tool position precision

Laro88

What is the angular precision of a tool position?

Meaning, how many degrees is a given tool out of orientation perfection, and with which planes. It probably depends greatly on joint positions, bad precision close to  singularities etc, so a rough number may be sufficient.

I have been looking in 3HAC9041-1_revL but only found the imperfection in paths etc. specified in mm.

I have a tool with a length of roughly 250 mm. that I need to position fairly accurate, and became aware of the potential problem of angular imperfection during a design review - someone asked and I said "dunno" :-)

I just did a quick check, 250 mm, 0.1deg error results in 0.5mm offset which is not so bad, however if the error is 1 degree then the problem is suddenly ~5mm.

Anyone who knows if it specified somewhere by ABB?

Best regards

tomC

I don't have a straight answer for you, but I'm working on a similar problem and I think the answer might be in the zone_ori (NOT pzone_ori) portion of the zonedata, but I'm not 100% sure.  I'm trying to  keep my tool from "wobbling" as it moves through singularity points but don't fully understand the setting and how it relates to tool orientation.  Testing tonight....

Laro88

My concern is rather the mechanical precision, what is the limit of the servos etc. in thephysical robot, and which deviations do these limitations result in  - angular wise?