Work Object

    Hello

    I have an irb 1400 with irp L manipulator that is made for welding.
    I am learning to program and it works great. But now I want to use work object. I want to weld while manipulator is moving and the robot is following. Do anyone know how.

    Just like this

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    Any help is appreciated.

    It's coordinated motion. Place the robot into work object mode ( green frame box) in the cog menu. Then enable the positioner. As you rotate the positioner, the robot will move with it. What is happening is you are rotating your object frame and the robot is positioned at a point in the object frame. As you rotate the frame the robot moves with it as well.


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    Did you teach an object frame at all yet? I just use the 3 point. I think it's 2 points along the x and 1 on the y. The intercept of these two lines are your 0,0,0 point for your object frame. All the points taught will be in reference to this frame.
    I work with a irb4600 with 2 irbp2000 positioners in a welding capacity. We manufacture snow removal equipment and I have setup numerous part types. I'd be glad to answer any questions you may have.


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    Edited once, last by jarm (February 11, 2017 at 3:33 PM).

    Okey i understand more and more. The only thing i have done with the robot is
    All axis including manipulator is configured
    Revolution counter uppdated
    Tcp is ok but not perfect
    Arcware istalled
    And a little test programming.

    If you have the time i would be glad if could do 1-5 steps or more to establish workobject and all to get this working. In order. I am going to weld excavator equipment. That is why i need this.
    Thank you!

    Ok then. Did you purchase a smart-tac or weld guide option with your robot. Smart-tac is touch sensing and weld guide is an option for tracking the weld joint. These options are not really necessary but they make a variations easier to deal with. I'm just curious. Second, did you purchase the tcp check option. It's a horseshoe looking device attached to the torch reamer that uses a laser to measure your tcp. I'm just trying to get a feel for what you've installed with your robot.


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    I bought this robot system second hand. As far as i know we dont have weldguide, smarttac nor bullseye. So what is installed is what i wrote. Well we obviously have a macanical torch cleaning device, witch is installed.

    Ok then that is completely fine. It just means fixturing and part specs will be important part of the process. So to create the object frame. Click the ABB icon, click program data, and scroll down to wobjdata. Then click new and name it whatever and click ok. Now find your new wobj in the list and highlight it. Click edit and define. Change the user method to 3 point. Make sure it's displaying your proper active tool. Just move the end of your tool (the wire) to the first point. Highlight user point x 1 and click modify position. Repeat for the other 2 points. Once all 3 points are modified, click ok. Now you've taught an obj frame. Let me know when you've gotten that far..;) oh and when you create the work object, store it in calibdata.


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    Edited once, last by jarm (February 11, 2017 at 9:47 PM).

    I mean the fixture itself. For example. Let say you have a table for a fixture and the robot sits center in front of it. I would teach the first point in the nearest right hand corner, the second point in the nearest left hand corner. This line represents your frames x axis. I would teach the y point in the far right corner. This creates a frame with 0,0,0 point in the nearest right hand corner

    You may need to change some declaration values for your workobj. Let me know when you've created it


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    Edited once, last by jarm (February 11, 2017 at 11:57 PM).

    I want you to check your declaration. Go back to your workobj data and highlight your workobj. Click edit, and change declaration. Is your scope-global, storage type-persistent, task-t_rob1 and your module-calibdata.

    Secondly after you check that click on initial values. I just want to know if the first few settings say false, false and stn1. I guess a good question is are you only working with 1 rotator?. If everything look good you can close the workobj data window. You are done creating your workobj.


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    Edited once, last by jarm (February 12, 2017 at 2:05 PM).

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