Hi,
I try to use a safe position to do a linear movement to go and return to a work object (slip sheet) and the robot goes jerky from the safe position to the pick point. What can cause this? I already use safe position to get the pallet and it work fine.
Thank for your answers!
Do the shake/jerk occur every time?
Does it only occur on the down stroke from the safe pos to the pick point?
What is the distance between the positions?
What is the speed?
What is the zone for the safe pos?
Yes, it jerk every time (at appraoch and depart, search activated or not) at the safe pos and near the pick point. Never at the outfeeder.
The work zone is slipsheet. I try a few points: 600mm, 900mm and 1600mm above the center. Always the same results.
The slipsheet is:
size: 1016mm x 1193 x 0.2mm
weight: 0.5kg
stack height: 300mm (auto generated box check, 1500 items)
Speed (all 4 box check in the adveced window)
pick approach: 500mm/s
pick depart: 200mm/s
place approach: 300mm/s
place depart: 500mm/s
all the Acc1Dec: 1m/s2
Rot speed: 60 deg/s
Oliver, please contact your local ABB rep. and provide them with a video clip, backups etc.
/Mats
OK, thank’s
There is a chance the safe position is not directly above the slipsheet bin. Check your posistion when the robot is picking the sheet, and check to see that the safe pos has the same X & Y values. If they are not the same and you are using ‘aproach & depart in z only’, you will get a jerk (a quick movement in X or Y) when the robot passes through the safe pos.
:smile: Problem almost solve!
0.2 mm for the Z dimension of the slip sheet seem to be to small or the number of item (1500) is too big!.
If I but 1mm of Z dimension and 200 items it work well!
Hi. Yes, 1500 sheets is a lot to calculate when reducing and adjusting. Your solution fives a much more efficient solution.