First Robot Path - Performance issues

RobotStudio
1

Hi

I’m a new user to robotstudio. I have created a path and successfully downloaded and ran it on our IRB120 manipulator, but it does not track the path anywhere near as well as i would expect with a 10micron accuracy rating.

The simulation gives the warning “corner path failure”, i have tried all the suggestions this warning gives. This includes enabling the /CONC option (what does this do? I cannot find any documentation on this option) and reducing the speed. Nothing improves the performance or removes the warning. I also cannot find out what ipol_prefetch_time does or how to increase it.

Robot studio version is 5.14.03.
Link to robot studio station: Dropbox - Error - Simplify your life Video of robot in operation: http://www.youtube.com/watch?v=I0zTrkqzwbA

Any help would be appreciated

Thankyou

2

You can define the accuracy using zonedata. In your program, it is set to z100 for each point which means that the robot is allowed to deviate from a point with a radius of 100 mm. Try using z0 instead.

You can read more about zonedata in the RAPID Reference Manual that is available in RobotStudio. The pdf version is available here:
http://www.scribd.com/doc/111665895/RAPID-Instructions-Functions-and-Data-types-Technical-reference-manual-ABB-Robotics