Calibrate Turn-/Tilt-Table with 4 points for 2 axes

Robot Controller IRC5
1

Hi

We have defined a 2 axes turn-/tilt-table as a robot in the MOC.cfg parameter to use the table for a coordinated moving workobject. But the used ROBOT_TYPE: “GEN_KIN” does not allow to calibrate with 4 points for the 2 axes as it would be for a IRBP-A ABB turn-/tilt-table as STN1.

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MECHANICAL_UNIT:
-name “Robax” -use_activation_relay “ROTATION” -use_brake_relay “ROTATION_brake”
-use_robot “Robax” -allow_move_of_user_frame
-activate_at_start_up -deactivation_forbidden

ROBOT:
-name “Robax” -use_robot_type “Robax” -use_joint_0 “TILT”\

-use_joint_1 “ROTATION” -use_joint_jog “Robax”

ROBOT_TYPE:
-name “Robax” -type “GEN_KIN” -error_model “NOMINAL” -no_of_joints 2

We need the 4 points methode to calibrate the table correct.

Best regards
Marcel

2

Page 100 of the Application Manual - Additional Axes and Standalone Controller (3.68 MB)
document this process.

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3

Hi xerim

Thank you for that information. So it looks like we would need a parameter file. We build the turn-/tilt-table ourselves. Is there any documentation about that parameter file? How has this to be loaded into the robot controller?

Best regards
Marcel

4

The parameter file you are looking for is the MOC.cfg file. You need to add something like this:

ROBOT_TYPE:

-name “STN1” -type “IRBP_A” -error_model “ERROR” -no_of_joints 2
-par_id_type “irbp_a”

You would of course need to swap out the names given to the parameters to match your current system.

5

Hi xerim

I was successful with:

ROBOT:
-name “Robax” -use_robot_type “IRBP1_A500_D1000” -use_joint_0 “TILT”
-use_joint_1 “ROTATION” -use_joint_jog “Robax”

ROBOT_TYPE:
-name “Robax” -type “GEN_KIN” -error_model “NOMINAL” -no_of_joints 2

That worked after I had added the positioner: IRBP A500 D1000 to the system after adding the positioner to the RobotWare.

I will also try your ROBOT_TYPE.

Best regards
Marcel

6

Hi

I am using now:

ROBOT_TYPE:
-name “Robax” -type “ORBIT_160B_1” -error_model “ERROR” -no_of_joints 2

So we don’t need to ad the positioner to the system, because this gives us some other side effects.

Best regards
Marcel