[MarcoP]

Hello,

is it possible to update the mass + COG which is given to the robot controller (ABB IRC5) while running a python script? Or do I have to update the RDK_DriverSocket.mod file on the controller?
Is setParamRobotTool(tool_mass=5, tool_cog=None) doing exactly that or just using the stiffness model which was created during calibration? 

Thank you for your help.

Kind regards,
Marco

[Albert]

Good question... The setParamRobotTool function only sets the tool mass and center of gravity in the robot parameters section in RoboDK. This information is used by the accurate robot model in RoboDK to properly filter targets and calculate accurate kinematics.

We can help you customize a post processor to output the correct tool data including the correct mass and center of gravity of the tool. It is currently not possible to change the tooldata on the controller through the driver but we'll take a note to allow this option in the future. In the meantime, you should change the tooldata information manually to include the orrect mass and center of gravity. This information is used by the ABB controller motion planner to properly move the robot. For static point compensation, it is enough if you provide this data to RoboDK.

In any case, to obtain the best accuracy results we recommend calibrating the robot with the same tool you'll use for production. You can attach one or more targets to the tool, run the calibration sequence, and then the stiffness parameters are calculated automatically. If you make mistakes when providing mass and center of gravity is not so bad unless you are planning to change the load. If you are planning to change the tool mass you should be as accurate as possible (in terms of tool mass and center of gravity), and update these values accordingly.

Let us know if you need more information.

[MarcoP]

Thank you for your help.