[JanisP]

Hello

is it anyhow possible to get the nomal speed / nominal acceleration of a robot?

I download a robot from the robot library://www.sinclairbody.com/robotlib/robotlib_app_v3一个nd import it into my program. In a python script, I get the robot via:

Code:

RDK = Robolink()
r_tx240 = RDK.Item("Staubli TX2-40")

Is it now possible to get the nominal speed, the nomial acceleration or the effetive name (with r_tx240.Name() I only get back the chosen name in the simulation) out of this Item named r_tx240? Are those things even safed anywhere in the object?

Thanks for your answer.
Janis

[colinb83]

There isn't really any such thing as a nominal speeds on robots, so many variables such as payload, c of g of payload, where in the working envelope you are, if near a joint reversal, if your doing ptp or linear movement, rounding settings, and whatever else bight be configured in the robot controller itself.

[JanisP]

Hey,
Maybe I should clarify the problem I am facing here:
In Stäubli VAL 3 (the programinglanguage for Stäubli Roboters) you are able to set the acceleration and speed of the joints. But this value is set in percentage of the nomial acceleration / nominal speed. In RoboDK, you can set the acceleration and speed of joints via setAccelerationSpeed() and setAccelerationJoints() but with absolute values. If I want to implement those values into my stäubli-program, I would need to know the nomal speed / acceleration of my robot to get the percentage of the given speed / acceleration.

If there is no way to get those numbers from the chosen robot, I could implement those numbers into my postprocessor for every given stäubli robot, but for that, I would need the exact name of the chosen Robot. As said, the .Name() method only returns the chosen name of an item, but not the name of the robot itself.

[colinb83]

Have you checked in the manual for your robot?

[JanisP]

Have you checked in the manual for your robot?

For what exactly? And yes, that's where those information about the nominal speed and acceleration comes from.

[colinb83]

I'm not aware of any data about the robot being in the robot files other than the kinematic data.

[Jeremy]

I never did it for a Staubli, but I generally pull that information from the robot user manual.

Max joint speed is easy to find.
Max linear speed is trickier.

Jeremy

[JanisP]

Hi Jeremy

Yes, I know I could get those informations direct from the robotmanual, but I wanted to know if RoboDK already has those information included in the robot-file. But since there is no information like this, maybe you got an answer for the other question I wrote:

Can I get the name of a chosen robot? If I load a robot from the library, I can change its name to something else. e.g. if I load the TX2-40, then RoboDK will name it "Stäubli TX2-40...", but I can change that items name. Is there any chance to get the origin name if the item was change in python? somthing like this:

Code:

rRobot = RDK.Item("Stäubli NEWNAME")
rRobotName = rRobot.RobotName()
print(rRobotName)
#Prints "Stäubli RX2-40"

Is there a function something like this RobotName()?

Thanks, Janis

[Jeremy]

Hi Janis,

No, I soon as you change the name in the UI, the API will only return that specific name.

Jeremy