Commissioning
This section should be followed after all of the electrical, hardware, and software installations are complete.
- With the power of the robot on, press the Enable button in the Drives Control section of the Main HMI screen
- Press the Home button to have the robot home in 3 stages. Note: the assigned joints for the stages below are default and are configurable. there is no UI for this yet but that is coming soon. to change it, you will need to log into the PLC program and go online to change the persistent data variables.
- Stage 1: J1, J2, and J3
- Stage 2: J4 and J5
- Stage 3: J6
- The robot will end the sequence at the MCS (x0, y0, z0), (r0, p0, y0) position.
- If
Flag 44is set to true, the robot will end the homing sequence inPose 2
- After successfully homing the drives, it may be necessary to zero out the axes such that the home position of the robot is in the expected position.
- To zero out the axes you will first need to jog the axes into the correct position. Then you will be able to perform a one-click calibration.
- To do this, first open the Jogging screen and enable the SMC_GroupJog2 function block by pressing
ENABLEin the Jog group box. - Set the coordinate system to
ACS(Axis Coordinate System) and try jogging one of the axes. - Using a level, ruler, and/or compass - start jogging the axes into their correct locations.
- Once all axes are home, press the
SET HOMEbutton. This will set the current position of all axes to zero.
Hint: The offsets are stored in register #44 of the stored positions and can be accessed and modified manually from the Programs screen.
This needs to be done or the actual vs set positions will drift.
- To tune the drives, you can use the traces on the Tuning HMI screen to see the set position vs the actual position of each axis. The semi-auto tuning feature of the software will bump the axes in alternating directions after which a recording of the values is displayed on the trace.
- Refer to the referenced web page below on what the different parameters of the position control loop represent.
- Kp, dead time, partial velocity/pilot control, max position difference/velocity/acceleration/jerk can all be set and applied to the controller from the screen.
- TODO video demonstration and refinement of this feature.
