March 25, 2019, 02:21:42 PM
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 s4c updating counters

Author Topic:  s4c updating counters  (Read 274 times)

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March 13, 2019, 10:26:34 AM
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Sean_MMSNI


Iv a 2400L which iv found the calibration is slightly off. Iv jogged the robot to the correct position where all the calibration marks line up correctly and then have went in and updated the counters. However when I go back to the jog window the values have not been updated to 0. They are still as they were before I updated the counters. Axis 3,5 and 6 are the ones im trying to update. The rest are set to 0 and are okay. Am I doing something wrong?

Today at 02:21:42 PM
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March 13, 2019, 11:51:52 AM
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Lemster68


Do you have a MoveAbsJ with all zeros in the jointtarget?  If not, make one and step to that position, then verify alignment marks.  Have you verified your calibration offsets?

March 13, 2019, 02:44:54 PM
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Sean_MMSNI


Iv created a MoveAbsJ and axis 3 is out by -0.3 Deg axis 5 is out by 0.2 Deg and axis 6 is out by -0.7 Deg. the reason im being so fussy is because I want to use a cad soft ware to write the program for the robot so tcp needs to be accurate.

What do you mean by Calibration offsets?

March 13, 2019, 02:48:16 PM
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Lemster68


Calibration offsets will be on a sticker on the arm or in the cabinet.  They factor in determining the correct positioning of the robot.  One of the first things that need to be checked when commissioning an ABB robot.

March 13, 2019, 02:52:02 PM
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Sean_MMSNI


Ah yes they were checked last week and are correct.

Any idea is it the calibration causing my tcp to have a max error of 5.3?

March 13, 2019, 02:55:42 PM
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Lemster68


That would be one of the things that I would check if not getting good tcp's.  Try jogging in world linear and watch carefully for it to go in a straight line, not veering or arcing.  Joystick lock is good to use to make sure you don't have accidental deflection.  Also, verify that the installed system matches the actual robot type.

March 13, 2019, 03:22:44 PM
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Sean_MMSNI


We bought the robot from global robots which is a secondhand robot dealer we bought it refurbished. They supplied a document with the Calibration data but these do not match the sticker on the actual robot itself. 

When I checked the calibration data last week they matched the ones in the document not on the robot sticker.

I moved the robot with joystick lock and the robot does appear to be moving in a straight line.

How do I verify the installed system matches the robot?

Today at 02:21:42 PM
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March 13, 2019, 03:46:05 PM
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Lemster68


Look in the backinfo folder on a backup.

March 13, 2019, 04:04:22 PM
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Sean_MMSNI


I have checked and the robot matches the software,  Should the calibration data match the numbers in the document from global robots or the sticker on the robot?

March 13, 2019, 04:44:42 PM
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Lemster68


I would go with the robot sticker, if that is no good, you have the other numbers to re enter.

March 14, 2019, 01:02:33 AM
Reply #10
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Skooter


Also double-check the jointtarget data being used for the MoveAbsJ zero position.  I've seen many times where the joint positions are not all set to zero.

March 14, 2019, 08:05:20 AM
Reply #11
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Sean_MMSNI


Where do I enter the calibration data?

What do you mean check joint target data?

March 15, 2019, 12:58:42 AM
Reply #12
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Skooter


.Parameters Menu, Topic: Manipulator, Type: Motor Calib
Select IRB1, and then you should see the calibration number listed as Calibration Offset. 
As Lemster68 said, the number should match the number on the stick on the back of the robot arm



The position you said you created for the MoveAbsJ.  If it is a named position, it is a jointtarget.  You can view/Edit this data by going to View, select Data Types, select Jointtarget and then select the named position you used.  Verify each joint of this position is 0.0


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