Motion

Robot Controller
21

Dear Sir,
Our company want to use sensor for pick the timber and place that is arrive desire place.
At first we will use simple function. Later,we will update it when we know very well by using robot .
Actually I want to know the name of sensor that is suitable for robot.
Please reply me urgently if possible.
I need your help.

Thanks and Best Regards,
Mie

22

Hi Mie,

Sorry for my late reply. I was on a businness trip.
It is hard for me to exactly point out what kind of sensor you need. I Hope you have found one jet

23

Dear Sir,
I really appreciate you very much.
I want to know is how to import and attach to robot after drawing the tool in modeling.
Please teach, guide and reply me how to do it.
Thanks for your help. I feel very pleased when I read your reply.
Thanks Rookie

Best and Warm Regards,
Mie Mie

24

Dear Sir,
Let me clarify the situation as it is now :
Having move the robot to a random position far from home position, we shift to automatic mode and start our program in which the first move is to go to home position. The robot does it without any problem/error. It is only then, when trying to execute the next command (moveL offs (Ppick,0,-100,300),v300,fine,tool0;), that the program stops and we receive the error message :
50143
Robot axes configuration
Actual configuration is not same as ordered and/ or movement of any robot axis is larger than 90 degrees, Robot ROB-1,axis rob1-5.
Actions
Use SingArea-Wrist,ConfL-off, modify position or insert intermediary point.

  • I don’t know how to use “SingArea-Wrist”
    • we already insert intermediary point and still have the same problem.

Please find another solution asap because we are not able to test our modules.
Thanks in advance for your help.
[/QUOTE]

Got the same problem when using MoveL and MoveC. Changing to MoveJ remove the problem, but I want to use MoveL and MoveC. How can i do it?

25

Hello Hugo

A? A? SingAreaWrist is used to define how the robot is to move in proximity of singular points (as example : when axes 4 and axes 6 are parallel / axis 5 at 0 degrees).

A? A? In practically (I have done before and success), use it on your Rapid program like this :

…

StartMove;

SingAreaWrist;

ConfLOff;

MoveL…(robot move to singular position)

…

A? A? This program means The robot moves to the programmed position and orientation, but to the closest possible axis configuration, which can be different from the programmed.

A? A? If you makes “ConfLOn”, the robot moves to the programmed position, orientation, and wrist axis configuration. If this is not possible, program execution stops (as your problem)

A? A? I hope this may help.

BR

Dhyan Wicaksono

Sepuluh Nopember Institute of Technology