IRB 140 tool position precision

Robot Controller
1

What is the angular precision of a tool position?

Meaning, how many degrees is a given tool out of orientation perfection, and with which planes. It probably depends greatly on joint positions, bad precision close to singularities etc, so a rough number may be sufficient.

I have been looking in 3HAC9041-1_revL but only found the imperfection in paths etc. specified in mm.

I have a tool with a length of roughly 250 mm. that I need to position fairly accurate, and became aware of the potential problem of angular imperfection during a design review - someone asked and I said “dunno” :slight_smile:

I just did a quick check, 250 mm, 0.1deg error results in 0.5mm offset which is not so bad, however if the error is 1 degree then the problem is suddenly ~5mm.

Anyone who knows if it specified somewhere by ABB?

Best regards

2

I don’t have a straight answer for you, but I’m working on a similar problem and I think the answer might be in the zone_ori (NOT pzone_ori) portion of the zonedata, but I’m not 100% sure. I’m trying to keep my tool from “wobbling” as it moves through singularity points but don’t fully understand the setting and how it relates to tool orientation. Testing tonight…

3

My concern is rather the mechanical precision, what is the limit of the servos etc. in thephysical robot, and which deviations do these limitations result in - angular wise?