The vibration issue at ABB robot

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Now, I have been using the IRB-140 robot related to 3D scan system.
The vibration issues always happen at large angle change spot or speed acceleration/deceleration spot.
So, in order to solve the vibration issues, I tried to change the speed data(v_tcp) to increase the speed smoothly. But can’t solve it.

and then I will try to adjust the ‘accset’ function. Could you guys inform me how to use ‘accset’ function and solve the vibration isseus?

Thanks,

SH.Park

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Hi,

Accset XXX,YYY; where X is the total acceleration(m/s2) in % and the YY is the ramp in %. Try to reduce it to the half or less and test it, for example. AccSet 20,40; and write it in the Main, as the first thing.

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