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2 axis articulated arm - articulated joint dependency compensation factor

Created by: AHicks at: 5/6/2014 1:40 PM (2 Replies)

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5/6/2014 1:40 PM	Rate (0)
AHicks Regular Member Joined: 8/2/2013 Last visit: 7/29/2024 Posts: 2 Rating: (0)	I have a 2 axis articulated arm robot. The angle of axis 2 is independent of the angle of axis 1. i.e. if arm 1 is horizontal and arm 2 is vertical, a rotation of axis 1 will rotate arm 1, but arm 2 will remain vertical. I think i need to apply an articulated joint dependency compensation factor, I cannot find any documentation that is able to explain the use of this option. Is anyone able to explain how this option works and a suitable value for the compensation factor (is it simply 1.0). Thanks in advance.

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5/13/2014 12:59 PM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 10/30/2024 Posts: 5933 Rating: (815)	Hello, you are right. When arm1 is horizontal and arm2 is vertical and you move arm1 in vertical position and because the mechnainc arm2 is still in vertical direction, the compensation must be activated. Suitable value for the compensation factor is 1.0.
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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5/23/2014 1:00 PM	Rate (0)
AHicks Regular Member Joined: 8/2/2013 Last visit: 7/29/2024 Posts: 2 Rating: (0)	TechTeam, Machine co-ordinates are now reporting correctly. Many thanks.

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