External Axis stutters at high angle values

DavidJo
DavidJo
in IRC5
I have a application were I need a smooth continuous movement of my external axis (IRBP750) without stopping. I am currently using IndCMove to rotate the axis.

However at large angle values, ~100 revolutions or 36'000deg the axis shakes, or stutters. If I reset the axis angle using IndReset the problem temporarily dissapears, until it gets to a high value again. The effect is noticeable at a lower angle value as well but it gets worse the larger the angle is.

The issue is that IndReset requires the axis to stop in order to reset the value.

My guess for this behavior is that ABB has the angle for the axis stored as a float24 and that it starts to significantly starts to loose precision that angle value.

I have a IRC5 controller running Robotware RW5.16_0005

My question is, has anyone else encountered the same issue or have a solution for it that does not require the axis to stop?




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  • matti
    matti ✭
    Hallo, I have no practical experience with independent axis, just from messing around in RSO.
    But the manual describes a similar behavior, the resolution becomes worse in the middle of the working range and improves at the end of the range again.
    Seems like you have to use IndReset more frequently.
    matti

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