What actions will need to be taken when relocating an ABB welding robot with positioner ? Will all the programs created before the relocation work.
Thanks.
ABB welding robot relocating.
-
Aurelijus Pr. -
April 15, 2024 at 7:50 PM -
Thread is Unresolved
-
Lemster68
April 15, 2024 at 7:55 PM Approved the thread. -
Regardless of the kind of positioner, (which still would be nice of you to mention) take careful measurement of where they are in relation to one another. You could even teach the robot some points to verify that they are replaced in a repeated relation. Take backups. Label anything that must be disconnected if it is not already labeled. Take lots of pictures.
-
Like Lemster68 has said, measure everything accurately and even make a routine for the robot to go to known points (edge 1, edge 2, edge 3) and move the positioner back to those positions taught versus where they were. You may still need to touch up a little bit, but hopefully not. Label and take a ton of pictures (they help more than you expect). If you could build a template out of wood as to the base of the robot to the base of the positioner, this may work very well too. Best of luck!
-
Do the positions in your program reference a Work Object and if they do is it something other than Wobj=0?
-
Do the positions in your program reference a Work Object and if they do is it something other than Wobj=0?
Yes, all detail templates have their own work objects. Not wobj0.
-
Like Lemster68 has said, measure everything accurately and even make a routine for the robot to go to known points (edge 1, edge 2, edge 3) and move the positioner back to those positions taught versus where they were. You may still need to touch up a little bit, but hopefully not. Label and take a ton of pictures (they help more than you expect). If you could build a template out of wood as to the base of the robot to the base of the positioner, this may work very well too. Best of luck!
The position of the robot and the positioner at another location will be different from the initial position.I don't know what will happen with the old programs. The robot will change its position by 180 degrees around its axis. the position of the positioner remains the same.
-
At this point, I would make sure that all the positions are using a work object for the weld area. Was it taught with a work object? Is there an extension after the tool (:\wobj_fixture; or something like this)?
-
May I ask why the robot is being rotated 180 degrees on relocation?
-
May I ask why the robot is being rotated 180 degrees on relocation?
The position of the robot and the positioner changes
The position changes from right to left
-
Not how but WHY?
-
Not how but WHY?
Because there is no possibility to build in the place where it will stand according to the layout of the old place.
-
In this case, we could think of it as another robot and mirror the programs.
-
Theres a python program that converts inverse pose data like this. Also to convert posistion data to a new wobj. Not a perfect system though.
Setting up programs with useful wobj reference would help for things like this.
The irc has a mirror program and mirror routine function in the controller. It will mirror the program across a plane you define with 3 programmed points, as described in the manual. It might not be appropriate for the positions of your weldment though. Count on touching up a lot of points
Super jelly of that positioner. Those are nice units.
Mw
Advertising from our partners
