Hi,
I’m trying to change the TCP offset live in between 2 waypoints. The idea is to steer the z axis as it detects some lateral forces.
I made a script that reads the forces and sets the TCP_offset related to it, but it is taken into consideration once it gets to a waypoint, not in between.
Any ideas?
Regards,
Pablo.
Is your tool moving based on these forces? If not, I would look at using path_offsetting instead of changing the TCP Offset values. You should look at creating a thread that changes the path_offsetting value based on the lateral forces while move between the two points.
Thanks for the reply.
It just does not work like industrial robots offset… this is much more complex. I tried, but the robot does not seem to be affected by it.
Every time I need to set an alpha filter really low 8like 0,00001) which I do not know exactly what it does. and then the path is not modified…
I wrote: path_offset_set([0,0,var_2,0,0,0],3) (I also tested 1 and 2 intead of 3) and then I increse var_2 by 0,5 everycycle… the path is the same
Having a really low alpha filter will decrease the final offset value by a large amount. Their suggestion in the URScript manual for welding is 0.1. I would look at increasing the alpha filter and then playing with different offset values to find the maximum you can set without receiving acceleration errors. It will most likely be a lot smaller then 500mm as it sounds you are currently increasing each cycle.
That was a value I tried, but normally I just increased 0,05.
Still if I put a value of alpha or Var_2 enough to fill the axis to change, it says acceleration is too high. Otherwise it does not do anything.
Do you have an example I may test?
If you are getting the acceleration error, try to keep reducing the amount of offset you are applying, your Var_2 value while you keep the 0.1 alpha value. This offset is being applied every 2ms if you are adding every cycle, so it will need to be a small value like 0.00025.
Sorry nrivas 
I think I may not understand the functionality behind path_offset_set…
I have a program that makes a moveL between point A and B in a loop. I added the path_offset_set in the thread_1… Am I modifying the final point A or B?? What does the offset do?
In other robots, like Fanuc for example, an offset modifies the real point at which the robot goes.
Nevermind, I understood it!! thanks a lot for your help