The vibration issue at ABB robot

SooHwanPark

Now, I have been using the IRB-140 robot related to 3D scan system.
The vibration issues always happen at large angle change spot or speed acceleration/deceleration spot.
So, in order to solve the vibration issues, I tried to change the speed data(v_tcp) to increase the speed smoothly. But can't solve it.

and then I will try to adjust the 'accset' function. Could you guys inform me how to use 'accset' function and solve the vibration isseus?

Thanks,

SH.Park

daguilar

Hi,

Accset XXX,YYY;  where X is the total acceleration(m/s2) in % and the YY is the ramp in %.  Try to reduce it to the half or less and test it, for example.  AccSet 20,40;  and write it in the Main, as the first thing.

SooHwanPark

Thanks for your support.

So, could you inform me how to use 'Accset' API?

For example:
 AccSet 20, 40; //Adjust the acceleration option
 MoveL ~~
 MoveL ~~
 AccSet 100, 100 //Adjusting the default value
 MoveL ~~

Is it right? If I add 'AccSet' to source code, the acceleration can be adjusted to all of point(motion)? or Should i add 'AccSet' before each move API(e.g. MoveJ, MoveL)?