Tool wobbles

Developer Tools
1

Right, so when I rotate the custom made tool around the 6 joint axis on IRB140, the tools wobbles slightly, +/- 2mm. Im asuuming it wasnt calibrated properly, so i attemped to calibrate the tool myself. My knowledge of rapid leaves much to be desired, so bear with me. I assume im supposed to use MToolTCPCalib instruction. I downloaded the rapid reference manual, thats where the information comes from. It says:

! Created with actual TCP pointing at the world fixed tip

CONST jointtarget p1 := […];

CONST jointtarget p2 := […];

CONST jointtarget p3 := […];

CONST jointtarget p4 := […];

PERS tooldata tool1:= [TRUE, [[0, 0, 0], [1, 0, 0 ,0]], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];

VAR num max_err;

VAR num mean_err;

…

! Instructions for createing or ModPos of p1 - p4

MoveAbsJ p1, v10, fine, tool0;

MoveAbsJ p2, v10, fine, tool0;

MoveAbsJ p3, v10, fine, tool0;

MoveAbsJ p4, v10, fine, tool0;

…

MToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;

I am assuming i was supposed to do the TCP tool definition, so thats just what I did

MODULE TCP_tool1

! Points are read in order of declaration.
! Please do not change the order of points!

LOCAL PERS robtarget pTCP_Point1:=[[718.6306,-23.57929,406.5191],[0.0362259447574615,0.108118996024132,0.990880310535431,-0.0717929005622864],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
LOCAL PERS robtarget pTCP_Point2:=[[721.2054,79.89567,378.8111],[0.0618657991290092,0.181467846035957,0.964149653911591,-0.183459743857384],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
LOCAL PERS robtarget pTCP_Point3:=[[713.3063,-76.05508,410.2771],[0.0371105186641216,0.247863233089447,0.968054473400116,-0.00755795557051897],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
LOCAL PERS robtarget pTCP_Point4:=[[721.0968,157.8051,338.5417],[0.0214728564023972,-0.0150154381990433,0.957947432994843,-0.285744905471802],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
LOCAL PERS robtarget pTCP_Point5:=[[721.0959,157.808,338.5412],[0.0214735139161348,-0.0150179238989949,0.957946717739105,-0.285747170448303],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
LOCAL PERS robtarget pTCP_Point6:=[[701.7413,146.4487,343.5256],[0.216235786676407,0.654233872890472,0.705377757549286,-0.166320011019707],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
LOCAL PERS robtarget pTCP_Point7:=[[745.514,-131.2294,410.2462],[0.0327133722603321,-0.763697028160095,0.644024610519409,0.03047901019454],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

ENDMODULE

Then i just input the robtarget coordinates from module TCP_tool1 into module with MToolTCPCalib instruction, lets call in TCP_calibration, tweak the code, and done. Or am i missing something? Because i recieve a syntax error, “wrong number of components in the initializer”. All help is appreciated, because im seriously confused.

2

hello,

when i have a quick look at your code, i think the problem is that you use robtargets in your module TCP_tool1 and you must have jointtargets in the calculations of MToolTCPCalib?
Robtargets store the the x,y,z position, jointtargets store the position of each axis.
You can also define your TCP by using the jogging window and choose edit/define when you have selected your tcp

BR

Peter