VR (Vibration Reading) Unit
To use the VRT function effectively, you need to understand generated vibration conditions exactly and set proper VRT parameters.
VRT parameters are necessary for vibration reductions. The parameters need to be changed depending on the following situations change.
- Robot orientations (e.g., arm stretching / bending orientations)
- When the weight of hands or an object held by hand changes
- Condition or state of the base table
You need to read the VRT parameters in the following situations:
- When installing the robot newly
- When changing the factory lines
- When changing the factory layout
This option consists of software (VR software) and a vibration reading unit (VR unit) that is necessary for understanding vibration conditions. Understand the vibration conditions and provide the system to output VRT parameters.
You can read the VRT parameters by the following steps:
- Install the VR unit directly to vibrating position.
- Connect the VR unit to PC with USB cable.
- Add “VRT_Trigger” command to the motion program which generates vibrations.
- Start the VR software.
- Set to waiting for trigger condition.
- Execute the program added “VRT_Trigger” command by Epson RC+.
You can check the improvement of the vibration conditions by the following steps.
- Add VRT command to motion program by using parameter values read by VR software
- Execute the program again and measure by the VR software.
Make sure to satisfy the following conditions to read the VRT parameters.
Connected to the robot controller (controller unit, drive unit)
(RC90, RC700, RC700DU, RC700-A, RC700DU-A, RC700-D, RC700-E, RC800-A)
The VR unit is connected to PC with USB cable.
VRT option is enabled.
“VRT_Trigger” command is added to the motion program which generates vibrations.
Vibration reduction of the VRT function effectively works to the vibration right after the robot stops. When reading the parameters, the robot automatically stops for 1.5 seconds after stopping at measurement position of the robot motion.
After the parameters are added, make sure to delete the added “VRT_Trigger” command. If you forget to delete it, the robot will not stop for 1.5 seconds in front of the measurement position unless the VR software will be waiting for trigger condition.
If you switch ON/OFF of waiting for trigger condition of VR software during execution of the robot motion wrote “VRT_Trigger” command, additional stop function (1.5 seconds) will ON/OFF.