Hello guys, I need to transfer a program from the original system (IRC5 IRB2400L+ IRBP 250D) to a similar twin system. I found the robotarget shifted in all three axes may be due to different workobject plate frames. As long as I have a Fronius CMT power source I was thinking maybe I can use the "Search_1D" function to define a pose data in the original program in 3 positions of the welding jig and then touch them to define the displacement. Is this the correct way? Does anybody know a way similar?
program displacement
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Enio -
December 6, 2023 at 8:21 PM -
Thread is Unresolved
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Use DefDframe to get a a new displacement frame from recorded points.
Its listed under functions in the manual.
CONST robtarget p1 := [...]; (You'll need to record these three while defining the wobj on robot1)
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR robtarget p4;
VAR robtarget p5;
VAR robtarget p6;
VAR pose frame1;
...
!Search for the new positions
SearchL sen1, p4, *, v50, tool1;
...
SearchL sen1, p5, *, v50, tool1;
...
SearchL sen1, p6, *, v50, tool1;
frame1 := DefDframe (p1, p2, p3, p4, p5, p6);
...
!Activation of the displacement defined by frame1
PDispSet frame1;
(Three positions p1-p3 related to an object in an original position have been stored. After a
displacement of the object, three new positions are searched for and stored as p4-p6. The
displacement frame is calculated from these six positions. Then the calculated frame is used
to displace all the stored positions in the program.)
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If your Fronius runs on devicenet the system output your looking for should be
SetDO doFrTouchSense,1;
and the Dinput for the Lsearch is
diFrArcEst
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Thanks MathewWallbank, I can not find diFrArcest .Can I use
"diFr1ArcStable" instead
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What manual do you refer ?
Use DefDframe to get a a new displacement frame from recorded points.
Its listed under functions in the manual.
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the fronius system I/o is in this manual with a list of signals starting on page 21
chrome-extension://efaidnbmnnnibpcajpcglclefindmkaj/https://library.e.abb.com/public/8ab4f21…AC050971-en.pdf
when doFrTouchSense is set to 1 or True the welder will go into touch sensing mode and say so on the display, you cant jog wire when the signal is active. your can test whether your diarcstable signal is the right one by grounding the wire to the workpeice (warning thats 80v) and looking to see what signal goes high in the list.
I think Skooter posted some rapid reference manuals on here but a quick google search should find one for whatever version of robotware you have