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Use of EPS on Robot Rotational Boom

randysoto
randysoto ✭
in Robot Controller
Has anyone used EPS with a robot mounted to a rotational boom?  The boom is integrated as a7th axis, and the resolver is connected to the SMB in the robot base. 

Answers

  • rakesh kadian
    rakesh kadian ✭
    Hi 
    Is it a continuously rotating boom then EPS can't be used.
    Br/rakesh
  • randysoto
    randysoto ✭

    Hi,

    Thank you for your response.  No, rotation is limited to +/- 180 degrees.  Have you tried EPS on a robot mounted to a rotating robot carrier?  Look forward to hearing from you again.

  • MaLi
    MaLi ✭

    Should be possible as long as the external axis is connected to the same SMB as the robot since EPS only supports one SMB.
    We have customers using EPS for tracks, concept is the same although tracks are linear and not rotational.

     

     

  • sehe
    sehe ✭
    I have the same question. In order to define the rotating boom in the moc, you have to use a locked axis and set the mechanical unit type to robot instead of single. Is there a way to get EPS to work with just the rotation axis of this type of mechanical unit?

    Or is there a better way to define a rotating boom using just a single axis?

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