How to build own positioner IRBP A

PLSuswal_P

Hi all,

I'm trying to build my own IRBP A using models of standard IRBP A 500/H900/D1450. Reason of that is the axis Arm of standard library is fixed to Plate axis and positioner is set in station only by Plate and doesn't include mesurments done for axis Arm. By creating my own positiner I want to include both mesurments done on axis Arm and Plate. I know what and how to do to position 3d models in correct positions, create joint etc. But I don't understand what to do with calibration for joints and without it, positioner is placed in station in wrong position.

Question is how does calibration works and how to setup it?

BR

MaSeg

The calibration frame is used to define the location of the baseframe in the mechanism. But the baseframe is different dependent on the kinematic model used in the positioner

• Nominal model = GEN_KIN. The base frame is used as start position of the kinematic chain. The calibration frame states where the location of the baseframe is

• Error model, this is the standard way we set up our positioners. Here the base frame isn’t used at all. Each joint has a position in the ARM_TYPE cfg parameter; the calibration frame is equal to this arm_type position. That means that we need a calibration frame for each joint in order to position the mechanism correctly. The location of the calibration frames should be the same as if you did an online calibration by doing a ‘4-point calibration’ via the Teach Pendant

Note that the calibration frames are relative the local origin of the mechanism.

The calibration frames are set in the Mechanism Modeler or added in the rsxml file if you create the positioner via the script file. The calibration frames can also be changed afterwards via the ‘Calibrate…’ button in the ‘Edit System..’

 Please see the pictures in the attached doc

Hope that this helps!

BR Magnus

MaSeg

The image:

PLSuswal_P

Hi Magnus,

I've checked this calibration in RS but I still don't know how to setup it correctly.

 I have station like on pic 1.png.

In system I have original ABB IRBP A 500/900/1450 library, I also crated my own mechanism based on original 3D models but I put them in relation taken from Arm_type in .cfg file. After that I moved my mechanism in position that plates of both positioners are in same position when both joints are in 0.

After moving both positioners Arm joint for 90 degrees there are some differences between plates positions as it is shown in pictures 2.PNG, 2 top view.PNG, 2 top close view.PNG

Positioner highlighted on blue color is original library and grey one is my mechanism.

When I go to edit system I have something like on picture 3.png.

Those values are correct with values from .cfg file as in picture 5.png.

But still when I move Arm joint it moves plate to wrong position, so everything that is attached to plate will also be in wrong position and whole program that is created in RS will be made with big error.

I want to know how to insert some corrections (and if necessary how to calculate them) into system in station so it will act as my positioner. If it's not possible then I need to know how to create my own positioner so after connecting it to system it will move to correct position according to system values (know I have to move it manually and after each restart RS want to move it, so it will be in accordance to system values).

For clearance I didn't change anything in calibration of original library (I really don't understand how it works), picture 4.png.

BR Paweł