ABB IRB 2400 M94A moving and Koordinate System Questions

Check the baseframe in the MOC file or in system parameters for motion. Also, check that the installed robot type matches the real robot. Finally, use joystick lock to check that there is not accidental deflection of the joystick or some other joystick problem.

I just realized one other thing, check to make sure that you are not jogging in tool or workobject (unless it is wobj0) coordinate system. You can download Robotstudio 2019, it is much newer, but will give you access to manuals that you have to read. 1. Rapid overview, 2. Instructions, functions and datatypes, 3. Rapid Kernel and 4. System parameters. You can also go here:

https://library.abb.com/en/results

Registration is free, you can search for manuals and stuff there.

Not necessarily, it booted into a state in which you can jog, right? Are there any programs to show in the editor? IO still configured?

Check also the calibration offsets, make a small routine to MoveAbsJ to a jointtarget in which all axes are 0. Move there and verify that the zero markers line up well.

Hi Lemster68,

I'm working with RLH66 on the same robot. Our biggest issue is how to make the robot move on straight line. When we try to move forward or backward, the robot moves on an angle. the same as when trying to move sideways.

Quote from Lemster68

Check also the calibration offsets, make a small routine to MoveAbsJ to a jointtarget in which all axes are 0. Move there and verify that the zero markers line up well.

To add detail to Lemster68's post:

For a jointtarget named 'zero', the move instruction should look like this: MoveAbsJ zero\NoEOffs, v200, fine, tool0, wobj0;

If you did this (or simply jogged each joint to 0 degrees in the Jog Menu) and all six calibration marks matched, then the calibration is assumed good.

Make sure you are also jogging using Work Object 0 and Tool 0 and verify that the robot moves in straight lines in World assuming the robot is mounted on or parallel to the floor. If the jog method is Tool, with wobj0 & tool0 selected, then motions should be in straight lines relative to the axis 6 faceplate.

I would like to make sure you've tried everything Lemster68 has asked so far before we dig deeper.

Are you referring to the right manuals? There are manuals for the BaseWare 2.1 operating system in the manuals section. They may help you better understand the replies given to your posts and the coordinates system that ABB uses.

Look forward to your next post and the next steps to solving this problem.

There are no settings for move J other than the programmed velocity in the move instructions. Are you running in teach and is slow? It will be until you go to auto. If there is a large reorientation, it can cause some slowdown. Make sure that you enter any applicable arm loads and loadidentify for the tool.