How to lock or control motion of one or multiple axes

pacijent

Hello to all, I'm trying to simulate palletizing proces with IRB 4600. I noticed that during 180 degrees axis 6 rotation I got uncontrolled motion of axis 5 and others, so the load is not traveling parallel with the ground during this motion. Is it possible to program 6-axis robot to behave same as 4-axis robot used for palletizing, to lock axis 5 i 4 through rapid or some robot parameter. Thanks in advance.  

ferosapien

I think the motion you are seeing is due to your instruction call (MoveJ?)  Try programming the points as MoveL or as MoveAbsJ instructions.

soup

SingArea \Wrist; might help.

pacijent

Thanks for your suggestions, it is MoveJ, it might be little bit difficult to rotate tool by 180 degrees using MoveL . I tried SIngArea but same behaviour, I will just use some points in between.

Jonathan Karlsson

There is no way to force a six axis robot to behave like a four axis palletizing robot.

That said the robot can be programmed to behave like one if you take care. You can still use MoveJ instructions in many cases but you need to choose the correct configuration for each target. If the configurations don't match you can get the behavior where axis 5 starts rotating.

The auto-configurations tool in RobotStudio will take you at least part of the way. If you first reset the configuration of your instructions and then apply auto configuration you will often end up with a path where the tool is parallell to the ground for the whole motion.