RobotStudio event

Softmove moving in direction other than chosen axis

D White
D White ✭
in Robot Controller
I am programming with a tool that has a Z axis situated at approximately 30 deg from the vertical. I am using softmove to move through the z axis until a vacuum reading is good.  My problem is that when I switch to the softmove "cssact", the tool will jump slightly in the xy direction, which misaligns to the part. Is there some additional rapid statement needed to keep this from happening?  According to the manual, the default coordinate is the Tool, which I do have loaded correctly.
My code is below for what I am attempting to achieve. Any comments or suggestions would be helpful.

MoveL p_puseal1, v300, fine, Tl_205_1;
        !activate softmove in z direction
        CSSAct CSS_Z\Damping:=50\Stiffness:=1\AllowMove;
        MoveL Offs(p_puseal1,0,0,-5), v200, fine, Tl_205_1;
WaitDI DO_GOODVAC1, 1;
WaitTime .25;
        !Deactivate the softmove
        cssdeactMoveL p_puseal1, v150, Tl_205_1;
MoveL p_seal_scrape, v200, fine, Tl_205_1;  

Comments

  • Kapten_andersson
    Kapten_andersson ✭
    What is the size of your robot? (Model)
  • D White
    D White ✭
    Model IRB 140. Since this post, I added a -2 to the Offset in the Y direction and it appears to move in a more linear direction. When I manually moved the axis with this code, the jogging would show that it also move ~ 2 mm in the Y, which is why I used the correction.

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