ABB Workobject

    Hi all ABB friends. I have a ABB IRC5 Robot with a lincoln welder. We currently define the worgobject by jogging the robot manually. I would like to create a program to define the work object in automatic, Any help is appreciated :help:

    Seeing as it is a welder I feel inclined to ask what type of work-object it is ? Is it for a turn table / positioner (i.e. rotating baseframe) or is it related to the part / tooling ?


    A workobject is basically two frames (user and object) stacked on top of each other. In order to create them through a program you need to define three reference positions and then use the function DefFrame.
    myWobj.uFrame := DefFrame (p1, p2, p3);

    Defining the three positions, and doing so accurately will be your bigger problem / headache and it will require you to have the ability to search via some type of sensor (wire touch, laser sensor, etc).

    Hopefully you'll get something out of this, but what you want to do is not entirely uncomplicated so explaining it in a short way is next to impossible....
    Below is a snippet used on a project I did many years ago...

    The short of it is that rather than you pointing out those three positions you need to have the robot do so and in order for the robot to point out a varying position you need to search for it.


    The Z/X trans calculations below are used to compensate for the width of the gascup and the plate thickness (yes, heavy welding :yesyesyes: )
    You can probably get away with using the built in DefFrame instruction and only three positions, but this was a fairly large part so it was easier to search two points on each plane rather than trying to pinpoint the corner.

    These two lines are what creates the frame and applies it to the workobject.

    poseSupport90:=Def4Frame(pW1,pW2,pW3,pW4);
    wobjActive.oframe:=poseSupport90;



    Modify and store each position for each point of the wobj, ex. X1=pWobj_O_PointX1, X2=pWobj_O_PointX2 and Y1=pWobj_O_PointY1.

    When loading the new fixture, run the routine for these positions and manually jog to fine tune the wobj. No more heavy manual jogging

    Program the routine something like this:

    ! Points are read in order of declaration.
    ! Please do not change the order of points!
    LOCAL PERS robtarget pWobj_O_PointX1:=[[4740.57,975.81,574.97],[0.00162589,-0.707593,0.706561,-0.00903695],[0,1,-2,0],
    [4625.08,9E+09,9E+09,9E+09,9E+09,9E+09]];
    LOCAL PERS robtarget pWobj_O_PointX2:=[[4734.34,1994.04,569.21],[0.00162876,-0.707594,0.706559,-0.00903434],[0,1,-2,0],
    [4625.08,9E+09,9E+09,9E+09,9E+09,9E+09]];
    LOCAL PERS robtarget pWobj_O_PointY1:=[[861.92,978.29,592.72],[0.000285452,-0.803456,0.595294,-0.00917913],[0,1,-2,0],
    [840.241,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST jointtarget Part_SafePos:=[[90.1096,-58.6954,33.1946,-0.190265,56.8059,0.138645],
    [2434.52,9E+09,9E+09,9E+09,9E+09,9E+09]];
    VAR num Part_Select;

    PROC Part_WobjSetup()
    TPErase;
    TPReadFK Part_Select,"Setup Work Object ?","","",sAnswer_YES,"","";
    IF Part_Select=3 THEN
    Part_SafePos_Rout;
    MoveJ Offs(pWobj_O_PointX1,0,0,100),v2500,fine,tWeldGun_Short\WObj:=wobj0;
    MoveJ pWobj_O_PointX1,v2500,fine,tWeldGun_Short\WObj:=wobj0;
    Stop\NoRegain;
    MoveJ Offs(pWobj_O_PointX1,0,0,100),v2500,fine,tWeldGun_Short\WObj:=wobj0;
    MoveJ Offs(pWobj_O_PointX2,0,0,100),v2500,fine,tWeldGun_Short\WObj:=wobj0;
    MoveJ pWobj_O_PointX2,v2500,fine,tWeldGun_Short\WObj:=wobj0;
    Stop\NoRegain;
    MoveJ Offs(pWobj_O_PointX2,0,0,100),v2500,fine,tWeldGun_Short\WObj:=wobj0;
    MoveJ Offs(pWobj_O_PointY1,0,0,100),v2500,fine,tWeldGun_Short\WObj:=wobj0;
    MoveJ pWobj_O_PointY1,v2500,fine,tWeldGun_Short\WObj:=wobj0;
    Stop\NoRegain;
    MoveJ Offs(pWobj_O_PointY1,0,0,100),v2500,fine,tWeldGun_Short\WObj:=wobj0;
    Part_SafePos_Rout;
    ENDIF
    ENDPROC

    PROC Part_SafePos_Rout()
    MoveAbsJ Part_SafePos,v1000,fine,tWeldGun_Short\WObj:=wobj0;
    ENDPROC

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