table projects

Question 1

What does the project directory of a table project look like?

Answer 1

It’s two directories: one for the table and one for the robot. In the table directory, the robot is seen as one- or two-axis robot.
The isios_gui_configs and cfg-xmls of the table are situated in the “parent” robot directory

Question 2

what kinds of tables are there in the Isios world?

Answer 2

One-axis parallel and orthogonal (that is to A1 axis) and two axis tables

Question 3

How does the table test work?

Answer 3

Reflectors are mounted to the table and the TCP. The table is moved and the TCP stays constant in the table -CS. Both TPTs are measured and it is checked, whether the distance remains constant

Question 4

What is the table test workflow?

Answer 4

preperation:
- find robot pose, that allows for most rotator movement (e.g. through robot poses if in master)
- create multi-TPT for Table and TCP
- create .mpf according to STD-43
with customer:
- test run mpf for reachability and adapt accordingly
- run Acccheck/get results
- run through .mpf and measure manually
- evaluate through tableTestResult chapter in report script