First Robot Path - Performance issues

JarrahP

Hi

I'm a new user to robotstudio. I have created a path and successfully downloaded and ran it on our IRB120 manipulator, but it does not track the path anywhere near as well as i would expect with a 10micron accuracy rating.

The simulation gives the warning "corner path failure", i have tried all the suggestions this warning gives. This includes enabling the /CONC option (what does this do? I cannot find any documentation on this option) and reducing the speed. Nothing improves the performance or removes the warning. I also cannot find out what ipol_prefetch_time does or how to increase it.

Robot studio version is 5.14.03. 

Link to robot studio station: https://www.dropbox.com/s/kkpxzn9a8y80e2s/station1.rsstn

Youtube Video of robot in operation: http://www.youtube.com/watch?v=I0zTrkqzwbA

Any help would be appreciated

Thankyou

Henrik Berlin

You can define the accuracy using zonedata. In your program, it is set to z100 for each point which means that the robot is allowed to deviate from a point with a radius of 100 mm. Try using z0 instead.

You can read more about zonedata in the RAPID Reference Manual that is available in RobotStudio. The pdf version is available here:
http://www.scribd.com/doc/111665895/RAPID-Instructions-Functions-and-Data-types-Technical-reference-manual-ABB-Robotics