abb poitioner

[sukoy]

Does anyone knows if i can change the loading angle of the IRBP 750k position er  while welding on the other side. Robots are IRB 1400 sc4 controller
                      Thanks

[prnuk2003]

Depending who set up your system there could be routines and data similar to this:

  CONST robtarget pST_ICH_2A:=[[750.82,91.1,297.59],[0.006257,-0.324494,-0.945832,0.008191],[0,-1,1,0],[9E+09,9E+09,9E+09,0.0209429,9E+09,9E+09]];
  CONST robtarget pST_ICH_2B:=[[750.84,91.12,297.59],[0.00625,-0.324493,-0.945833,0.008174],[0,-1,1,0],[9E+09,9E+09,9E+09,180.222,9E+09,9E+09]];

  PROC Stn2BToRobot()
    Reset doStn2B_at_load;
    DeActAll;
    st2A_rotat_pos;
    st2B_rotat_pos;
    TestSign 1,torque_ref,INTERCH,1,16,0;
    ActInterCh;
    MoveJ pST_ICH_2B,MIBmax,fine,tPKI500_22;
    WaitDI diMU2BINPOS,high;
    WaitTime 0.5;
    DeActInterCh;
    Set doStn2A_at_load;
  ENDPROC

  PROC Stn2AToRobot()
    Reset doStn2A_at_load;
    DeActAll;
    st2A_rotat_pos;
    st2B_rotat_pos;
    TestSign 1,torque_ref,INTERCH,1,8,0;
    ActInterCh;
    MoveJ pST_ICH_2A,MIBmax,fine,tPKI500_22;
    WaitDI diMU2AINPOS,high;
    WaitTime 0.5;
    DeActInterCh;
    Set doStn2B_at_load;
  ENDPROC

  PROC st2B_rotat_pos()
    ActSide2B;
    MoveJ [[750.86,91.17,297.58],[0.006274,-0.324532,-0.94582,0.008091],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,-87,9E+09]],MTBmax,fine,tPKI500_22;
    DeActSide2B;
  ENDPROC

  PROC st2A_rotat_pos()
    ActSide2A;
    MoveJ [[750.63,91.12,297.36],[0.006395,-0.324562,-0.945808,0.008133],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,-89.547,9E+09]],MTBmax,fine,tPKI500_22;
    DeActSide2A;
  ENDPROC

Changing the figures in bold type (angular values) above changed how that side was presented to the operator after indexing.

[sukoy]

Good morning, i apologise for my late response my question is should i try to do this by myself or i need to get the ABB technician to do it. thank you for your help.

[prnuk2003]

Hello sukoy,
I have seen several ways from different integrators how to write the logic to run a K-Type manipulator but if you are certain that this is the logic running on your machine then you can change the angles in bold by 0.5 degree initially just to see the change is OK and you are going the right way.
0.5 degree sounds small but it will make an obvious difference due to the size of the manipulator.

If you are confident then slowly adjust the angle to suit your requirements.

Go into routine(s) that has these table positions,
Cursor down to the MoveJ then cursor across to the robtarget '*' (it may be a named robtarget)
Select Edit, 8;Value.
Cursor down all the figures until you see the angle for that specific external axis (eax_?) and type in your new figure (make a note of the old one make sure you notice whether it is a positive or negative value).


If you are not certain then please make a complete backup, archive it to a zip file and post it here so we can take a look at how your system is setup.


If you have any doubts then yes call ABB for advice and maybe a quick visit to adjust the angles.