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Ryan_WeaverRyan_Weaver Posts: 48Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Handy

Today I was working on an application where we have a 10kg payload mounted to our UR10 with the FT300, and I noticed some erratic behavior when spinning Wrist 3 using the ActiveDrive toolbar.  Everything was calibrated successfully, but it seems like the Wrist 3 motion is very jerky and it doesn't spin smoothly. 

Have you ever seen this before @Etienne_Samson, @Annick_Mottard?  Is it an issue related to the payload?

Thanks!

Ryan Weaver   |   Automation Engineer   |   Axis New England
[email protected]
https://www.youtube.com/user/AxisNewEngland
https://twitter.com/axis_newengland

Comments

  • Etienne_SamsonEtienne_Samson Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    @Ryan_Weaver is the payload rigid ? If it's not it can induce some forces when you are moving and cause this, make sure nothing is shaky or deforming when you move. Any ideas of the moments induced ? The induced moments could exceed the limit event with the 10 kg payload. Maybe a video or photo of the setup could help us understand what is going on.
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
  • Ryan_WeaverRyan_Weaver Posts: 48Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Handy

    @Etienne_Samson - see the video here:

    Ryan Weaver   |   Automation Engineer   |   Axis New England
    [email protected]
    https://www.youtube.com/user/AxisNewEngland
    https://twitter.com/axis_newengland

  • Etienne_SamsonEtienne_Samson Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    @Ryan_Weaver thanks for that, it does seem rigid and fairly withing moments limit. From what I see, that is suppose to run smoothly. I can see the motion you describe, it seems "granulated". I'll check this with the R&D team tomorrow for potential cause. I have a few ideas but I'll double check before throwing anything! 

    p.s. also opening a support ticket to track this.
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
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