Relative Job Errors

  • Hello all,


    I am trying to transfer a Job to another fixture using Relative Job on a welding robot (MA1440, DX200)


    This way: 2.2.1 By Modifying the Teaching Coordinate
    Or like this: 2.2.2 By Converting the User Coordinate When Operating
    (points of the Relative Job Instruction).


    In the first case, in the Job at the final stage of conversion, "\ OV" are added after the motion commands, which means going beyond the P-point envelope (p. 19 of the Instruction). The program is not executed.
    In the second case, ALARM 4684, Interpolation Invalid, immediately crashes.


    But points are taught into a normal work area. The combination of robot links is calm. There are working jobs on both fixtures.


    What is possible to do?

    Edited once, last by mzhyask ().

  • Can you explain what the 2.2.1 and 2.2.2 methods are? Screen capture of the manual?


    Is the robot on a base track? Is this the same part, just located somewhere differently in the same cell?


    If it is the same part located somewhere different in the same cell, I would.


    Teach a User Frame at the original fixture. We'll say it's UF#(1). I would then go to UTILITY, RELATIVE JOB. I would convert this job to be relative to UF#(1). Copy the job to a new name. Teach a User Frame at the same location on the new fixture. We'll say it's UF#(2). In the new job, go to DISPLAY, JOB HEADER, change the UF#(1) to UF#(2).


    This could be exactly what 2.2.1 and 2.2.2 are saying. If this doesn't work. Add some more information. Maybe even attach the job's after they have been converted to XYZ, the TOOL.CND and the UFRAME.CND.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

  • 95devils thank you for your reply. I added more information.


    Type of manipulator:
    https://cloud.mail.ru/public/5FX3/xHpBq8CB6
    -----------------------------
    First method 2.2.1:
    https://cloud.mail.ru/public/5BWr/inWQbCMpj


    ------------------------------
    Second method 2.2.2:
    https://cloud.mail.ru/public/D8KX/p2vKbjW66


    --------------------------------
    Final standard job in new UserFrame:


    /JOB
    //NAME UF2
    //POS
    ///NPOS 4,0,0,0,0,0
    ///TOOL 0
    ///POSTYPE PULSE
    ///LIMIT ON
    ///PULSE
    C00000=-118038,-24105,-25016,-989,-74484,-6575
    C00001=-118038,-24105,-25016,-989,-74484,-6575
    C00002=-118038,-24105,-25016,-989,-74484,-6575
    C00003=-118038,-24105,-25016,-989,-74484,-6575
    //INST
    ///DATE 2018/10/19 11:46
    ///ATTR SC,RW
    ///GROUP1 RB1
    NOP
    MOVL C00000 V=11.0
    MOVL C00001 V=11.0
    MOVL C00002 V=11.0
    MOVL C00003 V=11.0
    END
    -------------------------------------------
    Main part of TOOL.CND content:


    //TOOL 0
    ///NAME S-Torch+Kinetiq
    -5.737,3.835,480.481,0.0000,-39.0000,0.0000
    -29.440,-36.614,151.636
    4.054
    0.000,0.000,0.000
    0.000,0,3
    //TOOL 1
    ///NAME
    0.000,0.000,0.000,0.0000,0.0000,0.0000
    0.000,0.000,0.000
    0.000
    0.000,0.000,0.000
    0.000,0,1
    //TOOL 2
    ///NAME
    0.000,0.000,0.000,0.0000,0.0000,0.0000
    0.000,0.000,0.000
    0.000
    0.000,0.000,0.000
    0.000,0,1
    //TOOL 3
    ///NAME
    0.000,0.000,0.000,0.0000,0.0000,0.0000
    ---------------------------------------------


    UFRAME.CND content:


    //UFRAME 1
    ///NAME UF1
    ///TOOL 0
    ///GROUP 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
    ///BASICFRM 1,16,0
    ///BASEP 0.000,0.000,0.000,0.0000,0.0000,0.0000
    ///PULSE
    ////RORG C000=64003,-29321,-85335,-2095,-32412,-274,0,0,0
    ////RXX C001=93468,20726,-33638,10277,-31478,-14013,0,0,0
    ////RXY C002=146585,-55486,-99392,19277,-51679,-32045,0,0,0
    ////BUSER 519.306,523.657,-212.452,-0.0047,0.0025,89.2552
    //UFRAME 2
    ///NAME UF2
    ///TOOL 0
    ///GROUP 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
    ///BASICFRM 1,16,0
    ///BASEP 0.000,0.000,0.000,0.0000,0.0000,0.0000
    ///PULSE
    ////RORG C000=-105874,78328,64095,-10956,-56802,12846,0,0,0
    ////RXX C001=-95071,20835,-34322,-13286,-31504,12105,0,0,0
    ////RXY C002=-130770,66832,41982,-16853,-54452,22423,0,0,0
    ////BUSER 513.743,-1439.474,-217.992,-0.0228,0.0066,89.9888


    -------------------------------------------------------------


    I see the same points in Move instructions of converted job, but why?


    "C00000=-118038,-24105,-25016,-989,-74484,-6575
    C00001=-118038,-24105,-25016,-989,-74484,-6575
    C00002=-118038,-24105,-25016,-989,-74484,-6575
    C00003=-118038,-24105,-25016,-989,-74484,-6575"

    Edited once, last by mzhyask ().

  • Converting your job in base will do nothing unless you are changing your tool data.


    Recreating using your information user 2 is at the maximum reach of the robot. The positions in the job, when converted to User 2, is going to push the tool outside the robot's envelope.

  • 95devils, thank you again.


    But how I can change tool data, if those was created according to torch sizes?
    And, as I understand, taught points in other programs will be changed?


    If a relative job is created and run in Motosim, - in Motosim all works without problems.

    Edited once, last by mzhyask ().

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