Tool Creation - SolidWorks vs RobotStudio Center of Mass and Moments of Inertia Calculations

bran21
bran21 ✭
in RobotStudio
Hello, 

Has anyone here used SolidWorks to calculate the Center of Mass and Moments of Inertia calculations for a tool? 

I've noticed some variation between the values calculated in SolidWorks and those shown in RobotStudio when creating a tool and I'd like to get some clarification. 

In SolidWorks I see several options for inertia outputs:

1. Principal axes of Inertia and principal moments of Inertia: Taken at the center 
2. Moments of Inertia: Taken at the center of mass and aligned with the output coordinate System
3. Moments of Inertia: Taken at the output coordinate system.

When creating tools in RobotStudio, I've been using the 'snap gravity' + part selection and would use a merged part to snap the gravity, but I still see noticeable differences in values between the two methods and seems that they never align.

Is this normal? And in general, is it more accurate or recommended to use the data directly from SolidWorks, or to rely on RobotStudio's own calculations? 
 
Lastly, I've already created all my tools in RobotStudio-- is there a way to simply edit 'edit' an existing tool to manually enter the Moments of Inertia values, or would I need to completely recreate each tool? 

Thank you in advance for any insights or help on this issue.



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  • KennyJiang
    KennyJiang mod
    Hi,

    1. I would personally prefer to calculate center of mass through SolidWorks instead of RobotStudio, because it is more of a design tool while RobotStudio is more of a simulation tool.

    2. Values such as mass for a tool is always used as Tooldata in a robot controller. For me, I would adjust the value of Tooldata directly instead of creating a new tool. 
  • lemster68
    lemster68 ✭✭✭
    I would have to run LoadIdentify on the real robot to trust the output values.
    Lee Justice
  • bran21
    bran21 ✭
    lemster68 said:
    I would have to run LoadIdentify on the real robot to trust the output values.
    Thank you! Would you happen to have any RAPID routines that run this LoadIdentify? Or possibly know where I could find a step by step on running the Load Identity Routine on Omnicore? :) Thank you for your help! 
  • lemster68
    lemster68 ✭✭✭
    Is the robot equipped with the Loadidentify and collision detect option?
    Lee Justice
  • KennyJiang
    KennyJiang mod
    To run LoadIdentify in OmniCore, ensure the tool or part is already installed or picked by the robot.

    1. Click on 'Code' in HOME view
    2. Click on 'Debug'
    3. Click on 'Call Routine'
    4. Select 'LoadIdentify' and click on 'Go to'
    5. Run the routine

  • bran21
    bran21 ✭
    KennyJiang said:
    To run LoadIdentify in OmniCore, ensure the tool or part is already installed or picked by the robot.

    1. Click on 'Code' in HOME view
    2. Click on 'Debug'
    3. Click on 'Call Routine'
    4. Select 'LoadIdentify' and click on 'Go to'
    5. Run the routine

    Thank you so much for your help and listing out the steps!!! I can't tell you how much that means to me as a beginner! Thanks again! 

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