limitting robot's working area [PickMaster 3]

PickMaster
1

Dear all,

I want to ask, can we limitting the robot’s working area?

The picture that I want is attached. We want to optimate the space for 4 robots. So, it’s means that there are overlap area between each robot. How to limmit the working area?A?

Thank you

webwiz/2005/robo.rar

2

Hi carmila,

You can adjust the working are for a flexpicker in the system parameters Motion (MOC.cfg)
These values are in meters.

ROBOT:
-name “ROB_1” -use_robot_serial_number “rob_1”
-use_robot_type “ROB1_360_1.13_1” -use_robot_calib “r1_uncalib”
-use_joint_0 “rob1_1” -use_joint_1 “rob1_2” -use_joint_2 “rob1_3”
-use_joint_3 “rob1_4” -base_frame_orient_u0 0 -base_frame_orient_u1 1
-upper_work_area_x 0.566 -lower_work_area_x -0.566
-upper_work_area_y 0.566 -lower_work_area_y -0.566
-upper_work_area_z 1.165 -lower_work_area_z 0.865 -use_kinematic_corvec
-corvec_correction_level 3

BR,
Fabrice

3

Dear Fabrice,

Thank you for your email. So, the things that I need is change the upper and lower work area x & y to avoid collision with another robot.

If my robot have reach 1130, it’s means the upper is 0.566 , and the lower 0.566.

So if I change it to be upper 0.5 ( example), and lower -0.5, and the reach will become 1000. ( not 1130 anymore). Am I right?

Thank you

4

That’s correct.

5

Dear Fabrice,

THank you for your help.A?:wink:

6

Dear Fabrice,

In our application, the robot must picks 2 bottles, and place them in 1 place. If bottle1 locate on 180 degree, and the bottle2 locate on -90 degree, the robot rotates to 180 degree to pick bottle1 and then it directly rotate 90 degree again to pick bottle2. It means robot rotate 270 degree. And then robot can rotate again 180 degree, so the robot rotate 450 degree. Our air supply- host can’t be rotated more than 180 degree. It makes robot error – motion supervision in axis 4.A?

can we limmittingA? also the rotation of axis 4? I mean the axis only can rotate +180 degree until -180 degree. So, after pick bottle1, the robot goes to 0 degree again, and then pick bottle 2. After that, robot goes to 0 degree again and then place the bottles. Can it?

Thank you

( sorry for bad english :+1:…)

7

Hi,

Please take a look here :

http://forums.robotstudio.com/forum_posts.asp?TID=3622&PID=11327#11327

BR,
Fabrice