We bought a used ABB IRB660-180/3.15 Robot that we want to use for bundling tubing off a mill. Did a factory reset but for some reason the base coordinates are different from world coordinates. Can move everything well when jogging in base system, but when it's in world system it moves completely wacky. Problem is the positions are saved in world coordinates. We only use two saved positions, all the rest are offsets. Now the offsets are wacky too. Can't figure out how to define the world or base coordinates.
World and base coordinate systems are different
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Lauyder -
April 27, 2024 at 9:34 PM -
Thread is Unresolved
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Check the moc file to see if you see something like this:
-base_frame_orient_u0 0.696364 -base_frame_orient_u1 -0.122788\
-base_frame_orient_u2 0.696364 -base_frame_orient_u3 0.122788\
-gravity_alpha -0.35 -gravity_beta 1.5708It will be under ROBOT. Or, using the pendant, under the motion topic. A normal, floor mounted robot will have no change to the base frame, and that would be 0,0,0 1,0,0,0
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Normally the base frame is different from the world frame.
the base frame must be declared with the Calibration procedure,
you will never succeed in mounting the robot perfectly straight,
but most of Programer do not declare BaseFrame,
when you use Safe move you MUST doit,
imagine that you mount the robot inclined by 15 degrees (on the wall)
the base frame is different by world.
When you have two master-slave robots, you have to calibrate the base frame between them