I'm new at abb programming and having some issues with saving the paths(seamnames) to reuse for multipass using ArcRepl I keep getting errors that path is not stored
Multipass
- Eli
- Thread is Unresolved
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Uploaded the Seam Tracking with Weldguide III & MultiPass RW6.07 Operating Manual to the ABB manual section. This should have the information you need. Start with page 49.
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Make sure your seam names is unique to your seams.
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this is part of my code and its not working as far as saving the seamnanmes and loading to reuse again
ActUnit STN1;
PDispOff;
Reset doWIREFEED;
MoveToHome;
MoveJ [[930.86,-22.39,333.61],[0.00515925,-0.968512,0.0729309,0.237988],[-1,0,-1,0],[535.814,0.23506,0.0897863,-14.772,9E+09,75.113]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MoveJ [[1061.14,-9.20,488.92],[0.00225857,-0.992431,0.0428773,-0.115051],[-1,1,-2,0],[476.426,0.208046,0.0714968,-13.1436,9E+09,66.7827]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MoveJ [[225.51,-5.92,359.13],[0.00225598,-0.992431,0.0428753,-0.11505],[-1,1,-2,0],[481.71,0.208096,0.071522,-39.9171,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MoveJ [[222.90,-221.94,170.93],[0.00814095,-0.965885,0.042489,-0.255333],[-1,1,-2,0],[481.71,0.208507,0.0716673,-39.917,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
Reset doWIREFEED;
!
!1st pass seam1
!
ArcLStart p840, v1000, seam1Tandem_Mig, wd_Ctr_TW_P1\Weave:=wv_Ctr_TW_P2, fine, tWeldGun_Tandem\WObj:=obSTN1\Track:=trStoCenter\SeamName:=Ctr_Seam_1;
ArcL p910, v1000, seam1Tandem_Mig, wd_Ctr_TW_P1\Weave:=wv_Ctr_TW_P2, z10, tWeldGun_Tandem\WObj:=obSTN1\Track:=trStoCenter;
ArcLEnd p850, v1000, seam1Tandem_Mig, wd_Ctr_TW_P1\Weave:=wv_Ctr_TW_P2, z10, tWeldGun_Tandem\WObj:=obSTN1\Track:=trStoCenter;
MoveJ [[294.48,285.99,246.58],[0.00724641,-0.960411,0.0426286,-0.275209],[-1,1,-2,0],[481.711,0.208507,0.0714399,-39.9161,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MpSavePath Ctr_Seam_1\SeamName:=Ctr_Seam_1\CreateLogFile;
Stop;
!
!part rotate for 1st pass seam2
!
MoveJ [[224.99,485.85,238.17],[0.282545,-0.0256043,-0.95876,0.0170622],[-1,1,-2,0],[481.713,0.208823,180.909,-39.9169,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MoveJ [[217.06,763.04,238.20],[0.282545,-0.0256047,-0.95876,0.0170627],[-1,1,-2,0],[481.713,0.208835,180.909,-39.9169,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
ArcLStart p860, v1000, seam2TandemMig, wd_Ctr_TW_P4\Weave:=wv_Ctr_TW_P2, fine, tWeldGun_Tandem\WObj:=obSTN1\Track:=trStoCenter\SeamName:=Ctr_Seam_2;
ArcL p920, v1000, seam2TandemMig, wd_Ctr_TW_P4\Weave:=wv_Ctr_TW_P2, z10, tWeldGun_Tandem\WObj:=obSTN1\Track:=trStoCenter;
ArcLEnd p870, v1000, seam2TandemMig, wd_Ctr_TW_P4\Weave:=wv_Ctr_TW_P2, z10, tWeldGun_Tandem\WObj:=obSTN1\Track:=trStoCenter;
MoveJ [[215.46,-178.92,237.48],[0.282511,-0.025601,-0.958771,0.017031],[-1,1,-2,0],[481.712,0.209113,180.909,-39.9173,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MpSavePath Ctr_Seam_2\SeamName:=Ctr_Seam_2\CreateLogFile;
Stop;
!
!2nd pass seam2
!
MoveJ [[217.06,763.04,238.20],[0.282545,-0.0256047,-0.95876,0.0170627],[-1,1,-2,0],[481.713,0.208835,180.909,-39.9169,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MpLoadPath Ctr_Seam_2;
ArcRepL\Start\End, Ly_Ctr_sm2_Crater_P5, v1000, seam2TandemMig, wd_Ctr_TW_P5, wv_Ctr_Crater2, fine, tWeldGun_Tandem\WObj:=obSTN1\Track:=trHeight\SeamName:=Ctr_Seam_2;
MoveJ [[202.86,-143.26,238.75],[0.282542,-0.0255931,-0.958761,0.0170678],[-1,1,-2,0],[481.714,0.209158,180.909,-39.9168,9E+09,380.854]], v1000, fine, tWeldGun_Tandem\WObj:=obSTN1;
!
!part rotate for 2nd pass seam1
!
MoveJ [[225.51,-5.92,359.13],[0.00225598,-0.992431,0.0428753,-0.11505],[-1,1,-2,0],[481.71,0.208096,0.071522,-39.9171,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MoveJ [[222.90,-221.94,170.93],[0.00814095,-0.965885,0.042489,-0.255333],[-1,1,-2,0],[481.71,0.208507,0.0716673,-39.917,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MpLoadPath Ctr_Seam_1;
ArcRepL\Start\End, Ly_Ctr_Sm1_P5, v1000, seam1Tandem_Mig, wd_Ctr_TW_P5, wv_Ctr_Crater2, fine, tWeldGun_Tandem\WObj:=obSTN1\Track:=trHeight\SeamName:=Ctr_Seam_1;
MoveJ [[197.89,-303.57,238.87],[0.282545,-0.0256046,-0.95876,0.0170634],[-1,1,-2,0],[481.713,0.208829,180.909,-39.9169,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
PDispOff;
!
!part rotate for 3rd pass seam2
!
MoveJ [[225.51,-5.92,359.13],[0.00225598,-0.992431,0.0428753,-0.11505],[-1,1,-2,0],[481.71,0.208096,0.071522,-39.9171,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MoveJ [[222.90,-221.94,170.93],[0.00814095,-0.965885,0.042489,-0.255333],[-1,1,-2,0],[481.71,0.208507,0.0716673,-39.917,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MpLoadPath Ctr_Seam_2;
ArcRepL\Start\End, Ly_Ctr_Sm1_TW_P3, v1000, seam1Tandem_Mig, wd_Ctr_TW_P3, wv_Ctr_Crater2, fine, tWeldGun_Tandem\WObj:=obSTN1\Track:=trHeight\SeamName:=Ctr_Seam_2;
!
!part rotate for 3rd pass seam1
!
MoveJ [[197.89,-303.57,238.87],[0.282545,-0.0256046,-0.95876,0.0170634],[-1,1,-2,0],[481.713,0.208829,180.909,-39.9169,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MoveJ [[217.06,763.04,238.20],[0.282545,-0.0256047,-0.95876,0.0170627],[-1,1,-2,0],[481.713,0.208835,180.909,-39.9169,9E+09,380.854]], v1000, z50, tWeldGun_Tandem\WObj:=obSTN1;
MoveJ [[209.81,-6.26,308.53],[0.282537,-0.0255785,-0.958763,0.0170732],[-1,1,-2,0],[481.712,0.20888,180.909,-39.9161,9E+09,380.854]], v1000, fine, tWeldGun_Tandem\WObj:=obSTN1;
PDispOff;
MoveJ [[225.51,-5.92,359.13],[0.00225841,-0.992431,0.0428762,-0.115051],[-1,1,-2,0],[481.71,0.208096,0.0715094,-39.9171,9E+09,380.854]], v1000, fine, tWeldGun_Tandem\WObj:=obSTN1;
MoveAbsJ [[0,0,0,0,0,0],[0,0,0,0,9E+09,0]]\NoEOffs, v1000, fine, tWeldGun_Tandem\WObj:=obSTN1;
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errors I get
path load error
fail to read in path
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Which command triggers the error, MpLoadPath or ArcRepL
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Question. Is the seam names stored as arrays or is it a string instruction?
As far as I know it should be "your_seam_name" if it is not declared in your data and "Your_seam_name{array nr}" if it is stored as array. NOTE the Inverted commas.
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Also is your parameter set to "True" in the Trackdata for Store Path?
This must be set active to store the path names.
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will double check everything today once we get the cell up and running came across some issues and maintenance is working on it
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the error comes on once it's going to the Arcrepl
Do the seamnames have to be inside quatetions (inverted commas?
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got it to work
I didn't had a string file for the weld paths to be stored in
Thanks JMF
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another question how can I clear the weld paths on the program after i modify points.
Robot keeps going to the previous recorded path
Thanks in advance
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When you use Multipass, you use the first weld as your reference to your mulitpass offsets. If your weldpath/reference weld change, your offsets will change. If you change you multipass data, your weld will be still referenced to where your first weld was only your offsets will adjust. So in short. When you change your weld path/reference weld, you need to rerecord that seam for the offsets to be accurately referenced to the weld path.
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JMF
How do I re-record the seam or clear the values I already have in the strings ?
I modified the starting point and end point(root pass), but when I block through the program the robot goes to it's old seam for 2nd and 3rd pass
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I do not know of a shortcut other than switch of welding and rerun the root pass as it would have welded and then switch welding back on after the run for the 2nd and 3rd passes. But what I have noticed is that your tracking might differ a bit because multipass requires tracking to be 100% correct.
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Try to PPtoMain and then PP back into your weld routine.
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I will do so.......
made a new routine and now I'm getting the same errors as before "path load error" I did exactly the same thing when I got it to work now I'm lost once more....
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there a place where I can check to see if the paths (seamname)are being stored??
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IRC5? You can use RS if so and search system.
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in the instructions for Mpsavepath is the createlogfile supposed to be blank?
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