Hi,
We are using Pickmaster to do Pick and place and we need decrease the value when the robot tool is loaded. Can we change the acceleration on the fly for the approach movement or the placing (to reduce force on the picked objet)?
I am using ACCSET in the code, but it acts on the two movements..the placing and the apporoach.
BR,
Nick
Hello!
AccSet limits the overall robot performance and should be avoided, consider using PathAccLim instead that limits the acceleration along the path of the TCP (which is usually what you want to limit).
PathAccLim accepts both acceleration and deceleration as input and can be changed on the fly.
BR, Erik
Thanks Erik, it works just fine!
I was working on a demo recently and needed to reduce acceleration when the tool was loaded. I tried using PathAccLim instead of AccSet, but the motion of the tool become somewhat jerky. This was most obvious at the corner positions above the conveyor. I was using 3-7 m/s^2 for accel and decel, max speed of 7500 mm/s and conveyor speeds around 200 mm/s.
Any ideas what could cause this?
Should it not enoght to set the ItemLoad value?
The robot will reduce the acceleration according to the weight .
Oscar
Is it a good approach to artificially increase the item load in the software to a value greater than the actual load?
Craig,
Was your demo a 4 or 6 axis robot?
Did you have any change between joint and linear move, like the 140 template program does when using intermediate positions?
/Mats
The demo used a 4 axis IRB 340 robot. The code was the regular PMppa340_IRC5 with linear moves and no intermediate positions. There was a speed change from lowspeed to maxspeed at the corner which may have contributed.
Ok,
I just had a thought that it could have been an interpolation jerk that may occur with six axis robots and conveyors.
/Mats