RW 6.12
Well, this looks to be fun. I'm on site with an IRC5 that was originally purchased with an ABB single-axis positioner added to the robot, as a coordinated motion external axis (in addition to the servo gun the robot is carrying). This has been fully configured, programmed, and debugged... and now the decision has been made to change the robot over to MultiMove, to allow the cell PLC to control the positioner directly, and move it independently from what the robot arm is doing.
So, I'm now reading the MM manual, but it's mostly written from the assumption that the robot was ordered from ABB with MM from the beginning.
Anyone have any experience they'd like to share? I have a short deadline for doing this (of course ), so I really want preserve everything I can of the current setup (only a few hundred spot-weld points to re-teach.... ). Like the servo tuning and load data for the positioner, my weld programs (I'm hoping I can just set the Positioner values in all the RobTargets to 9e9), the servo gun tuning, etc.
Part of my concern is that the manual starts with "Create a new system in RobotStudio". Do I have to "nuke&pave" this robot and start over from scratch, or is there a minimally-invasive upgrade path where I can avoid trashing all the hours of work already invested in this robot?