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Problems of Payload

jerry-licao
jerry-licao ✭✭
in Robot Controller


         I have a tool with two grippers. So I created two TCPs as TGrip1 and TGrip2. When the robot is working, Gripper1 grips a workpiece or Gripper2 grips a workpiece , or Both grip a workpiece.
 
         So,when I do the payload, I selected TGrip1 if only gripper1 has a workpiece, and    I selected TGrip2 if only gripper2 has a workpiece, when two grippers all have a workpiece,how can I do the payload? am I select TGrip1 or TGrip2?
 
         I read the manual,and see that the payload is express in the tool cordinate system,so What to choose (TGrip1 or TGrip2 )is very important.
 
        Can anyone help me? Thanks
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Comments

  • Steve_Murphy
    Steve_Murphy ✭

    Hello,

    Very good question, and the answer A-s slightly dependent if you are using GripLoad+loaddata, or simply using tooldata.

     

    If you are simply using tooldata, and have 2 tooldata tools setup (TGrip1, and TGrip2), then my suggestion is that you define 2 additional tools to be used:

        TGrip1WithLoad1n2  -- The Tool1 TCP with loads 1 and 2 in the grippers

        TGrip2WithLoad1n2  -- The Tool2 TCP with loads 1 and 2 in the grippers

     

    Recall that the load in the tooldata is the entire load on the end-effector in the wrist coordinate system.  You will need to calculate the new mass, and center-of-gravity, and moments of inertia for the combined gripper+load1+load2 in the wrist coordinate frame, which is fairly straightforward.

     

    It gets more complicated if you are using GripLoad+loaddata, as the cog, and moi's must be caculated in the tool coordinate system, i.e. the load2 in gripper 2 would have to be translated to the TCP1 coordinate system if you were to have the TCP1 defined.

     

    Kind Regards,

     

      Steve

     

     
  • Jwisdom
    Jwisdom ✭

    I would suggest doing a simple truth table

    image

     

    By doing it this way you are covered for all payload possibilities.  You would need to run tool load on Tcp1 without a part and then run Tool Id on Tcp 2 without a part and then run payload ID for each scenario of gripped part and active tcp. This would be the proper way to do it to get the most out of your robot and utilized the Gripload commands to change the active payloads. You can then create a case statement to switch the active payloads to the proper one prior to executing your motion. <?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

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