Hi!
I would like some help for an ABB robot, I have to create an offset that has to shift all teaching points. is it possible doing?
ABB offset
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Gaet_748 -
June 6, 2019 at 3:45 PM -
Thread is marked as Resolved.
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Is this a temporary or permanent offset? Have you taught in workobject coordinates? If so, then adjust workobject, if not, you could use PDispSet.
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Is this a temporary or permanent offset? Have you taught in workobject coordinates? If so, then adjust workobject, if not, you could use PDispSet.
Is a permanent offset. Because this robot will be shifting position, and when it will be fixed in the new position, i think that it will be necessary modified to the teaching points. So i need an expedient to solve this.
Sorry but it's my first experience whit abb. -
So then, you should have your positions taught using a workobject or user frame. Then, after you move the robot, adjust your workobject.
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Is the easiest way to avoid changing teaching points? How to modify work object ? What is its syntax?
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MoveL p10, v500, fine, MyTool\Wobj:=MyWobj;
Workobject is an optional argument, if you don't have it yet, you need to define one and add it to your motions. But, if you don't have it yet, you will have to step through, point by point adding and then modposing. Or, you can use robotstudio to change it to a different workobject if you have a license for RS.
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I don't have a RS's license, and sw already has a work object. So then , i do to create a new work object in this way:
1 In the Layout viewer, select the tool data to be modified.
2 Click Edit Tool Data to open the dialog box.
3 In the Other data group:
• Modify the tool name.
• In the Robot support tool list, select whether the tool should
to be held by the robot.
4 In the Tool reference system group:
• Change the Position x, y, z of the tool.
• Modify the tool rotation rx, ry, rz.
5 In the Upload data group:
• Enter a new tool weight.
• Modify the center of gravity of the tool.
• Modify tool inertia.
6 In the Synchronization Properties group:
• In the Storage Type list, select PERS or TASK PERS.
Select TASK PERS if you want to use the tool data in
MultiMove mode.
• In the Module list, select the module in which to declare the data
tool.
7 Click Apply.
Or else? -
No, tooldata is for your end effector, you need workobject data. You will tap on edit, define, teach X1, X2 and then Y1. The thing is, you would have to know where those three points were originally taught. Otherwise, you could edit the data to "walk" your points back in to where they need to be.
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So can I try to follow this topic?
https://www.robot-forum.com/robotforum/abb…oints-location/ -
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well, in the meantime I also found this topic:
https://www.robot-forum.com/robotforum/abb…7124/#msg107124
thanks very much for the help -
Very similar situation. You are welcome.