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wrong resolver offset value

  • Enio
  • January 14, 2025 at 1:26 PM
  • Thread is Unresolved
  • Enio
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    • January 14, 2025 at 1:26 PM
    • #1

    hello guys, We have a welder with IRC5 controller equipped with IRBP type D positioner .

    Can someone help us to see the WobjSTN1 workobject values refer to wobj0?

    Thanks

  • robiman
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    • January 14, 2025 at 2:42 PM
    • #2

    i'am not sure what you mwean
    Wobj Data you can find here
    PERS wobjdata WobjSTN1 :=[ xxxxxxxxxxx


    resolver offset value.... (maybe you mean Calibration offset)..... you find in the moc.cfg file
    #
    MOTOR_CALIB:
    -name "pos1_1" -valid_com_offset -cal_offset 2.8183 -valid_cal_offset \
    -latest_calibration_method 1

    http://www.hw-automation.de<br />Teach Pendant Repair S4- IRC5

  • Enio
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    • January 14, 2025 at 3:03 PM
    • #3

    hello robiman, when we look to this PERS wobjSTN1 we do not see translation values from wobj0,

    in s4c we are abble to see actually the values in mm where the positioner plate is refer to wbj0

  • Lemster68
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    • January 14, 2025 at 3:09 PM
    • #4

    It might not be taught yet.

  • Enio
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    • January 14, 2025 at 3:36 PM
    • #5

    lemster ,actually is working,but in declaration i can not see the actual values in mm of the plate refer to the base frame

    PERS wobjdata wobjSTN1 := [FALSE,FALSE,"STN1",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
    PERS wobjdata wobjSTN2 := [FALSE,FALSE,"STN2",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

  • Lemster68
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    • January 14, 2025 at 4:11 PM
    • #6

    It will still work even if it has not been taught.

  • robiman
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    • January 14, 2025 at 4:16 PM
    • #7

    you can test it when you move in Workobject mode:

    move the robot to the Mounting Plate on STN1 and rotate it

    the robot must be in workobject mode

    http://www.hw-automation.de<br />Teach Pendant Repair S4- IRC5

  • Enio
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    • January 14, 2025 at 4:53 PM
    • #8

    lemster i am not sure what you mean, so the STN1 is define in Calibration menu under Reference system still Object frame and User frame values are 0.

  • Lemster68
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    • January 14, 2025 at 4:59 PM
    • #9

    Have you searched here for the manual which will tell you the proper calibration of that positioner?

    Manuals, Software and Tools for ABB Robots

  • Skooter
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    • January 15, 2025 at 12:56 AM
    • #10

    Check data all the modules, perhaps it was in a different module when the wobj was defined.
    I seem to remember that happening to me a long time ago.

  • Enio
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    • January 15, 2025 at 8:44 AM
    • #11

    yes robiman , in workobject mode the robot turns with the table sincronized so it has been taught ok

  • robiman
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    • January 15, 2025 at 9:25 AM
    • #12

    you are realy sure you have only one WobjSTN1?

    http://www.hw-automation.de<br />Teach Pendant Repair S4- IRC5

  • robiman
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    • January 15, 2025 at 11:10 AM
    • #13

    you can find the data in the moc.cfg file

    #
    SINGLE:

    -name "STN1" -use_single_type "STN1" -use_joint "PLATE1"\
    -base_frame_pos_x 1.36493 -base_frame_pos_y 0.993543\
    -base_frame_pos_z 0.218675 -base_frame_orient_u0 0.499241\
    -base_frame_orient_u1 0.499043 -base_frame_orient_u2 -0.500491\
    -base_frame_orient_u3 0.501222 -use_single_jog "STN1"

    http://www.hw-automation.de<br />Teach Pendant Repair S4- IRC5

  • Enio
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    • January 15, 2025 at 11:29 AM
    • #14

    Thanks robiman

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  • wrong resolver offset value

    • Enio
    • October 3, 2024 at 1:16 PM
    • ABB Robot Forum
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