Hello guys , is there a way in robotstudio do convert automatically all the robotargets related to a user workobject in robotarget related to Wobj0 , practically in absolute position
RobotStudio
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Enio -
January 16, 2025 at 11:17 AM -
Thread is Unresolved
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Yes, but only with Lizense
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You want to move robtargets from one workobject to another?
On the left window under path&targets open the corresponding workobject and right click the robtarget or multiply robtargets...select move or copy to workobject. Select the workobject you wish to copy to. It will ask if you want to move the points, say no if you want the points in the same position just related to the new workobject.
Yes you need license because it's part of the modeling aspect of robotstudio. If you download robotstudio and install on a fresh machine you will have 30 days evaluation.
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OK Jarm here is my problem,the workobject of the rotating plate of the external axes (IRBP D positioner ) is shifted from the center of the rotating plate so i need to calculate again this workobject .The program is using this workobject without define a user frame(wobjSTN1,WobjSTN2).So after calculating the workobject the program will be shifted. I have try duplicate the workobject than after calculating the first one .I use the Adjust Robtargets function to bring back the program acording to the first worcobject already calculated,somehow it does not work.
Is there any way to deal with this situation?
We have a premium license on RobotStudio but we just start using it
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so let me try to get this right. You have a workobject made that is suppose to be on the center of the rotating plate but it is not and you have all your points taught but are in workobj 0
You want to fix the workobject on the plate and attach all your point to that workbject? or to another workobjct attached to the plates workobject and move the point there?
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Yes i have all the points taught in a wirkobject not in the center of the plate and now i need to bring the workobject in the center and and move the points
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ok no problem. create the new workobj centered on the rotating plate.
on the lefthand plane under the tab paths and targets, you should see a tree structure. You'll see you virtual controller and your robot. Under that will be tooldata, workobjects & targets, Paths and procedures. right-click workobject and select create workobj.
A window will open and you will create the new workobj in the right spot.
set name, false,STN1,false .. apply
This will create a user frame on the rotating plate. and you will see the new frame in the tree under workobjects. Now this is just the userframe attached to the rotator. if you wish to attach a part to the rotator you can create an object frame on the part and program all the points off that object frame. The object frame is attached to the userframe which is attached to the rotating plate so all your points will rotate with the rotator.
to create the workobj right click your new frame in the tree and do modify workobject.
In the same box you created the userframe, scroll down to workobj and frame by points.
Choose the way you wish to create the frame...3 point.....2 on the x, 1 on the y.
use the snap function to select your point in the model. make sure the pink box is highlighted before you click the point and it will populate the data to the box. do all 3 points. hit apply
Now you may want to adjust the xyz direction of the new workobj. go back to the same box where you created the workobject and open rotational rx,ry,rz. Correct the orientation and apply
Now your ready to move your points to the new workobject.
you said all your points are in workobj 0?
Go back to the tree and open workobj 0 fully to see all the points.
highlight first point and scroll to the last point. Hold the shift and click the last point. all the points will highlight. now rightclick the list and goto move to workobj and select the new workobj.
It will bring up a message asking if you want to reposition the points...say no
Thats it... sync to vc be sure to select the new workobject when syncing to the vc.
if you copied the points, you can delete them from workobj 0 . if you moved them you should be good.
I should point out this is all conditional that your cells positioner is set up right.
goto the same lefthand window and click layout. under layout, open your positioner.
under links you should have one for the rotating plate and a frame. make sure the frame is in the center of plate rotation
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I realy thank you for the help Jarm,i need to tell you that all my points are not in workobject 0 , thay are in wobjSTN1 and wobjSTN2
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So i have the real station with the wobjSTN1 not in center of the rotating plate ,I think in Robotstudio it will appare in center of the plate but in the real station it is not
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so is the stn1 baseframe off in robotstudio?
Did you create the cell or did it come from the robot supplier. I received a pack and go of our new cell and i had to modify baseframe in the pack and go to match the robot.
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I created the cell in robotstudio from Backup,to find a way to center the wobjSTN1 of the real cell ,so i have the real cell woth wobjSTN1 off center and the point are ok, so need to center it in robotstudio and bring the point ok again
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under paths&targets right click the vc and then motion configuration.
you can connect robotstudio to your controller and do the same for it
compare the station position values
you may need to adjust the stn1 position in the virtual controller. my station values and controller values are different. I had to adjust my station values 25mm in the z and -135 degrees in the rz to match my robot
how much is it out on the real positioner?
create a robtarget on the rotating plate at center in the studio using your wobjSTN1 and copy it to the real controller and see the difference
the only issue is if you move the stn1 values, it will move all the points too. The workobj will center in the real robot but it will take the points with it in the real robot.
You could record how much you shift your stn1 and then create a new work object minus that shift and move the points to it allowing the points to move and then move them back to the proper workobj not allowing the points to move.
Let me know if you understand... its a little bit of screwing around because the studio stn1 didn't match the real stn1 before you started programming.
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Jarm i think i am able to do this procedure, so find how mutch the wobjSTN1 is shifted in X,Y,Z, but what about the quaterinions values ?
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move your station in the studio under motion configuration first untill you get the workobj centered on real positioner. not sure what you mean by the quaterinions values. remember to use station values
use the center robtarget programmed in the studio and tranferred to robot to know when you've moved it enough
then create a new workobject centered on your rotating plate minus how much you shifted your stn1 and move the robtargets to that new workobject moving the points . then copy them back to your original workobj stn1 without moving the points.
ive described how to move the robtargets in earlier posts
if you use the jogging on the pendant and use wobjstn1, position 0,0,0 should go to the center of your rotating plate in the robot.
Then create a point center to the plate in the studio in wobjstn1. transfer that to the robot and go to the point. Note the position in jogging on the pendant..That should give you the offset you need to move the stn1 in the studio to line it up