Getting started help needed :)

[kajakmannen]

Hi

Trying to get into robots :)

Ha an M97 ABB IRB 6400 robot that I´m going to use for milling. Wating for 116 MB memory card and ethernet card to be able to dripfeed milling file to S4C controller.

While waiting I´m trying to set up the robot.

The robot is standing in front of a aluminium T-slotted table. Could some one shortly describe what I need to do to set up the robot properly in the workspace, worl and toolcoordinate system.

Should start by Defining the Base Frame for the Robot under service --> view --> baseframe? or should I do something before that?

THe robot is synchronised and works but the TCP is the mounting flange and not the position where the milling tool tip will be.

Someone with the knowledge that could make a short description of what to do?

Thanks in advance / Kajakmannen

[Ztek]

There are many ways to do this, but one good thing to start with is to make straight pointer tool that you can use to teach your user coordinate systems. If you have a good gripper on your ordinary tool you can make a pointer tool that you hold in the gripper, an other way is to screew it to th ordinary tool in some repetable  way, yet another is to screew it directly to the robot tool flange. Then you define the tool by putting the cursor at the tool row in the jog-screen. Put in X, Y and Z coordinates for the pointers tip relativ the tool flange. You can now test if your coordinates was good by reorienting the tool in jog-mode. The tip should be stable during reorientation.

Other tools is defined the same way if you have a good way to measure the coordinates. If not there are metods to teach a tool in the system, but I do not use them, so I cant describe them.

I do not use the baseframe, just set it to the same as the worldframe.

Now it is time for user frames. You can reach them via the jog-screen as the tool data or via the program-screen and the menu "data">"datatypes">"wobj" and the "data"> "show wobj" (i do not have the controller in front of me, so this might not be absolutly correct).
Create a new wobj and the chose "define". Chose three point metod for userframe and no change for work object. Then point out a position on the userframe X-axis, another point on the X-axis and then a point at the Y-axis. When you are finished, try jogging in the userframe to make sure it was correct. Just a hint at last, there is a button with a bold, horisontal line on the pendant, to the left over the arrow keys. That button moves the cursor between the upper and lower part of the screen if it is divided in two parts. You will need it...

[phmmorel]

 

Dear All,

could someone share and send the followings manuals in pdf format of IRC5 ABB robot.
Operating manual - Getting started, IRC5 and RobotStudio Online 3HAC027097-001
Operating manual - RobotStudio Online 3HAC18236-1
Technical reference manual - RAPID overview 3HAC16580-1

I bought a ABB 120 with IRC5 and have lost "getting started" DVD!

Thanks in advance
Philippe

[kajakmannen]

Hmmmmm  another long evening in the workshop trying to get a grip about things on the milling robot.

First a picture of the setup to make some things clear.

What I tried to do.

1) I have tried to change the base frame for the robot by going in under service --> view --> base frame and then choosing the robot and push "def...".
Then I can only choose the method "4 points xz". That is the only choice I can make (the user manual shows a number of different ways of defining the base fram but I only have one choice?)
When I push the button for changing to the lower part of the window I can start to defining each of the 4 pointers but approching the fixed pointer 1 with the robot pointer from different directions.

When the 4 points are defined I jog the robot out to the fixed pointer 2 to define the +x elongiator and then I rais the fixed pointer 1 (which is a threaded axle which I can adjust the height of) so that it is around 200 mm higher then before and then approche it with the robot pointer and then define the +z elongiator. (is this the right way of doing the elongiators?)

Do I need to define the fixed position of the reference point? (The set... choice in the lower right position of the window)


By the user manual I should now save the result but twhen I try to save it sais that the disk is writhe protected???

[kajakmannen]

If I manage to save the new base frame. What is the next thing to do??

Thanks in advance / Kajakmannen

[kajakmannen]

Recieved the 16 MB memory card and the ethernet card today. Very fast delivery from Global robots in GB. Thanks for that.

Turned of the controller on the on/off switch on the front of the controller.

Changed the old memory card sitting in the memory expansion card slot and put the ethernet card in the only free slot with matching connectors (the one furthest to the right).

When turning the controller on the boot up started. The pendant then said...

***********************

Welcome to the S4 controller

Boot= iocbase-vr0001-000301-0846

The system is now starting up......

****************


Then there came a message in the bottom of the screen which said:

DIAGNOSTICS: Varm startup mode

and then the system rebooted again??? This happpened on and on again without going in the the operating mode.

[kajakmannen]

When I removed the new cards and put back the old memory card the same fault came again and again and I could not start up the robot. What can be wrong?



Please help if you have a clue

Thanks in advance / kajakmannen