Hello Everyone,
We are moving a MIG welding assembly line comprising 21 Robots from one place to another with same robot configuration and position.We are using S4C controllers and Robot models IRB 1400 ,IRB 2400 and IRB 6400.I wants to make sure what kinds of precautions I take before a move.Basically, all the robots have problems with the battery and they are not able to store the position after the power failure.So,We have to manually calibrate each robot every time we lost the power.I have few questions like Do i need to make a work object before moving the line?We are already using a work object in each and every robots So,I think if we make a new one it can mess up the program.I ma really confused right now Can You please share with me your experience with the precaution and tips before moving a robot line.
Thanks in advance

MIG Welding Assembly line comprising ABB Robots moving from one place to another
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robomaniac -
December 4, 2017 at 3:06 PM -
Thread is Resolved
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I am no expert on these, but I would make sure all of my units have new batteries before disconnecting power. Also make sure all of your boards are seated and locked in place.
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Thanks for response,Do u know about work object ??.Do i need to make a new work object?
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If you move the robots and they don't share a common base (not cement, but a flat steel base) with their fixtures, you will probably have to make a new work object - You could save doing this if you make some kind of indication procedure (tooling balls/indicators) to ensure you physically install them in the correct location.
Otherwise if you already have a workobject, only make a new one at your new facility if your points are off.I would also support the robot arms with some kind of dense material (foam/wood) while moving so no large jarring motion will cause issues. Air ride truck recommended.
Anytime I take the time to have robots packed up with a lot of support I haven't had calibration issues upon power up (assuming those batteries okay.)
Make sure you have OS disks for each controller on hand just in case to handle the worst.
Make sure your team that is disconnecting the robots/cabinets knows what they are doing and doesn't damage cables / wires - even if they know what they're doing, a reminder of precautions doesn't hurt. You don't want to be scrambling to try and get an order for old cables for those controllers.
Also keep in mind where cabinets will go and length of cable runs - we mirrored a room and when the architect planned the drops we didn't have enough cable length for the cabinets.
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Thank you tyler,
Yes we have work object for our robots,But I don't know what three points they used to create those work objects as this line is 17 years old.Can you give me some details about how to check the work object points or is there any way I can know the three points of the work object they took to create these work object?
I am asking you because we are going to place all the robots with almost same position,So instead of changing the work objects I was thinking to touch up the points.
Any insights will be apprecitedthanks in advance
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If I think I understand what you mean, touching up the points IS essentially creating a new work object, but if you can locate physically on the original points when you move, great.
Before trying this, you will need to know that your TCP Is the same as the one used when the workobject was defined - if you cant confirm that then tryi to locate on something will be moot. Usual with welding torch it’s set after the wire is clipped so it should still be relatively accurate if your programs are running correctly and your torch isn’t mangled.
If you’re lucky, someone saved the points they used for the workobject s as “pos” variables in the module file or in a system module so that would be my first place to check, otherwise I’m not sure if/where Abb saves the points used to creat a wobj (maybe someone else can chime in on that)
Alternatively if you open the Module that contains the workobject in a text editor, you can get the coordinates of the workobject and create a point with the same coords. Then you can make a MoveJ to that position (be careful) and the robotnwill move to the origin of the work object. Again make sure you’re using the same TCP or you could have weird orientations or crash your robot.if you succesfully get an origin that looks to make sense (corner of fixture, target on fixture etc etc) then you can use the Jog screen and the Workobject jog to move along a line and check that you’re following the fixture - from there it should be pretty clear if the workobject was following something in a cell.
For this reason I would recommend to anyone if they’re designing a workcell
- common base for robot and fixtures/parts
- locating features for fixtures
- engraved/scribed/machined features for visual locating
- treat robot applications like machining applications and you will thank yourself later! -
If I think I understand what you mean, touching up the points IS essentially creating a new work object, but if you can locate physically on the original points when you move, great.Before trying this, you will need to know that your TCP Is the same as the one used when the workobject was defined - if you cant confirm that then tryi to locate on something will be moot. Usual with welding torch it’s set after the wire is clipped so it should still be relatively accurate if your programs are running correctly and your torch isn’t mangled.
If you’re lucky, someone saved the points they used for the workobject s as “pos” variables in the module file or in a system module so that would be my first place to check, otherwise I’m not sure if/where Abb saves the points used to creat a wobj (maybe someone else can chime in on that)
Alternatively if you open the Module that contains the workobject in a text editor, you can get the coordinates of the workobject and create a point with the same coords. Then you can make a MoveJ to that position (be careful) and the robotnwill move to the origin of the work object. Again make sure you’re using the same TCP or you could have weird orientations or crash your robot.if you succesfully get an origin that looks to make sense (corner of fixture, target on fixture etc etc) then you can use the Jog screen and the Workobject jog to move along a line and check that you’re following the fixture - from there it should be pretty clear if the workobject was following something in a cell.
For this reason I would recommend to anyone if they’re designing a workcell
- common base for robot and fixtures/parts
- locating features for fixtures
- engraved/scribed/machined features for visual locating
- treat robot applications like machining applications and you will thank yourself later!Thank you again tyler,
I have gone through programmes as you suggested but I couldn't find any work object points or any physical marks on the fixture.I think they didn't stored in the programmes.So,Now I have the only way to things start going is touch up each and every points using the robot pendent instead of creating a new word object and programmes.Because we have a very limited time to move the robots and It will take way long to create new programmes.Please correct me if I am wrong and its appreciated if you give me any suggestions.
Thanks again -
If nothing exists on it - then what I would do is add features to your workcells - they can be as simple as a tooling ball, or even just 3 ground/lathe-cut locating that you can bring the torch-wire too.
Are you using modular welding fixtures (Bluco etc.)? They make stuff like this a lot easier... otherwise you'll have to mag-drill some holes. The absolute locations of these don't need to be super accurate, but do make them as far apart as possible encompassing your entire work area , fixtures etc.
In any case, do this for each robotNow, teach 3 points on each position. Make sure you clip your wire accurately to your TCP on every robot before you teach the points.
This is not super-fast but with some help you should be able to do this all in maybe 2 days?Then after you move the cells you have the 3 points on each one to reference. Physically move the robots, shim etc. until those points line up again.
Alternatively you could also teach a work object when you're saving the points - then after you move the robots, teach a new workobject and you can then find the difference and apply that difference to your program work object.
does this make sense? It's not a small amount of work but it might be faster in the end than re-teaching programs - and then in the future you have those reference points for checking your robot
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Thank you Tyler for your help,
I am thinking the exact same thing to use three reference point to make the virtual work object and I confirmed that with our millwright team to keep everything as close as possible to match current system layout and design config.and yes.That's the work we can do in front end to save lot of time in the back end.