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
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
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
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
It might not be taught yet.
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]]];
It will still work even if it has not been taught.
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
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.
Have you searched here for the manual which will tell you the proper calibration of that positioner?
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.
yes robiman , in workobject mode the robot turns with the table sincronized so it has been taught ok
you are realy sure you have only one WobjSTN1?
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"
Thanks robiman