Loose Arm Detection on IRB340 [PickMaster 3]

PickMaster
1

Hello

I heard about the Lost Arm Detection for IRB 340. :stuck_out_tongue_winking_eye:

Could you explain me where to find more info , documentations and manuals?

Thanks

Oscar

2

Hello Oscar,

The loose arm detection is used to detect a lost arm on the IRB340. When the function is detecting a loose arm, it stops the robot with error code 50204, Motion Supervision.

The functionality is disabled by default and may only be activated by modifying the configuration file. It is activated by the parameter “manipulator_supervision_on” within the MOTION_SUP section.

The threshold used to detect the loose arm must usually be tuned. The threshold is tuned by using the “manipulator_supervision_level” parameter within the MOTION_SUP section. The parameter may be anything inbetween 1-500, where 100 is the default value. A higher value will reduce the sensitivty of the function.

BR, Erik

3

Hi,

How can I tune it on the field? I mean How can test it ?

Of course I can start from the default value and tune it according to the errors I will get, but to be sure about it,the robot should loose the arm in order to chech my tuning.

How can I do?

Can I use MoveAbsJ in order to run arm by arm?

Bye , Oscar

4

Hello,

The tuning must be performed to achieve the sensitivity that matches a specific application. Speed, acceleration, tool load and item load affects the functionality and it must therefore be tuned.

If the functionality stops the robot at all time, the sensitivity must be reduced. If it never stops, increase the sensitivity.

One way to tune may be to increase the sensitivity so that the robot stops at all times and then reduce the sensitivity step by step until it runs ok.

BR, Erik