Help finding OffS function in teach pendant

[Lloyd]

I am currently taking an ABB programming course. They have two S4 robots and one irb6600 robot, I believe an irc5 controller. The teach pendant is a touch screen. I have downloaded the trial version of Robotstudio, the teachpendant on the irb6600 robot is similar. The problem we are having is we are unable to find the OffS function. I don't have a problem finding it with the virtural teach pendant but it seems that on the training robots teach pendant the function is unavailable. The only way I have been able to use the function is to type it manually, which is a pain, especially when variables and circles are involved. Is it possible the systems firmware or something needs to be updated? Another bit of info, I believe m2000 in stamped on the robot, if that is any help.

Thanks

[Fabian Munoz]

Lloyd:

Welcome to the robot-forum

After you type the command, does it work ?

I had that problem with another command where I couldnt find  it, I was able to write it but it wouldn't work.
The answer to that problem was that that robot was a basic robot $$$$$ and it didn't come with that option.

I'm guessing you dont have manuals, but if you can do it with the virtual TP, you know how to do it in real life

[Lloyd]

The controller executes the OffS command when it is manually typed in, its just a pain to have to do that. It's possible that the command is buried in there some where, but I'm starting to doubt it. By the way it's actually m2004 thats stamped on the plate, I guess that's the year it was manufactured?

[Fabian Munoz]

I havent done ABB for a while and I had to read my notes

Are you using Offs (?,<...>,<...>,<...>),...  by itself or MoveL Offs (?,<...>,<...>,<...>),...  ?

Either way, it's a FUNCTION and not a COMMAND.

Teach a point  MoveL *,v60,z20, tool0 for example and try to change the Z, then you will see at the bottom of the screen Next Func More... Cancel OK,
Try Func

[Lloyd]

Looks like your example would apply for the s4 controller, but not the irc5. That's ok though, I'm getting good at typing it manually. I looked around for the manuals, but it dosen't appear that they have them.

Here's one example of the Offs command that I have used:
MoveC Offs(cir_start,Cos(cir_ang) * cir_rad,-(cir_rad),Sin(cir_ang) * cir_rad), Offs(cir_start,(Cos(cir_ang) * cir_rad) * 2,0,(Sin(cir_ang) * cir_rad) * 2), v1000, z10, tool0;

I created this on the virtual tp. As you can see it would be a pain to have to manually type all the code in.

[Midwest Tech]

When you insert the move instruction, just tap on the * or the name of the position. There is a Function tab that you can tap on for Offs or RelTool

[Lloyd]

Wolf Tech, I am familar with that procedure by using the RobotStudio Virtual Teach Pendant. The problem is the funtion option does not show up on this particular irc5 pendant we have at the training facility. That's why I am wondering if maybe the firmware or something similar needs to be updated or if that would even apply.

[luetin]

I tested it on a robot with RW 5.07.05.5002 and the option wasn't present, however on a system with RW5.12_01.00.1021 it was. So yeah, you probably need to update robotware.

[Lloyd]

So I guess the question is: Did they completely omit the OffS function or is it buried in there somewhere? Would a RobotWare upgrade cost money? That probably won't happen if they have to shell out some cash.

[luetin]

http://www.abb.com/product/ap/seitp327/049ffeb82687791ec12574b9004958cf.aspx

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