It’s okay, I just found my mistake. You just had to change the trajectory mode at the bottom of Robotstudio on a tiny button.
Thanks for the help anyway!
It’s okay, I just found my mistake. You just had to change the trajectory mode at the bottom of Robotstudio on a tiny button.
Thanks for the help anyway!
Precisely is my problem, impossible to realize a linear trajectory on this station under Robotstudio 2023.4 and even 2023.3.
I can’t feel a point linearly. Do I have a parameter that prevents this?
Good morning,
Thanks Lemster68,
So my problem would be more in terms of trajectories. It does not bother me to redo the trajectories in linear.
However, usually in Robotstudio I choose in "hanging end" and a "linear control" in the displacement "raised hand". But in this station I can not achieve a linear displacement despite these choices. And I can’t change the joint path to linear once created.
Good morning,
If that question has already been asked and answered, I apologize.
Thanks for the time.
I have an ABB IRB140 mounted on a base that must take parts in front of him (parts that arrive on a rail) and put them on a grid on his left (16 pieces per grid).
I created my cell on Robotstudio and I created an object mark at the level of the rooms and at the level of the grid. I created a trajectory of taking (for the parts on rail) and a trajectory of laying (at the level of the grid).
In my program, I created a shift of my grid mark so that the trajectory decals to store the shifted parts on the grid. But I have a problem to shift my pose trajectory...
Here is my program, but my trajectory does not shift.
MODULE MainModule
TASK PERS tooldata t_pince:=[TRUE,[[-168.146,0,83.4],[0,-0.5373,0,0.843391]],[1,[0,0,1],[1,0,0,0],0,0,0]];
TASK PERS tooldata Tooldata_1:=[TRUE,[[0,0,0],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];
PERS wobjdata w_support:=[FALSE,TRUE,"",[[542.171,349.551,915.273],[0,0.819158959,0,0.573566561]],[[0,0,0],[1,0,0,0]]];
PERS wobjdata w_grille:=[FALSE,TRUE,"",[[78.727,649.562,942.059],[0.499987,-0.500013,-0.499987,-0.500013]],[[200,0,0],[1,0,0,0]]];
PERS wobjdata w_travail:=[FALSE,TRUE,"",[[78.727,649.562,942.059],[0.499987,-0.500013,-0.499987,-0.500013]],[[100,75,0],[1,0,0,0]]];
CONST jointtarget JointTarget_2:=[[43.661352477,41.442978751,17.127131353,-7.367334883,28.002716918,50.064839239],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_3:=[[80.576288054,35.25272025,22.554561885,1.78525809,27.268338393,-10.971838298],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget rt_ref:=[[0,0,0],[0,0.707106,0.707106,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_15:=[[46.945894826,36.912978728,22.690924904,-8.012315623,27.203955323,53.972523652],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_16:=[[43.661355892,21.285739841,15.144475994,-4.505497147,50.033505746,46.449715734],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_18:=[[79.107893005,27.989531238,34.219275063,2.426644976,22.89639407,-13.083673025],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_17:=[[80.576288054,33.902111813,22.651581307,1.712976119,28.521338304,-10.890063004],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_19:=[[78.999545714,24.917950772,35.016064441,2.24147556,25.171431044,-12.984794084],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_20:=[[78.999532054,24.917950772,35.016064441,2.241475346,25.171429337,-12.984792376],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_21:=[[0,0,0,0,30,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS tooldata t_PinceTroisMors:=[TRUE,[[-168.099,0,85.374],[0,-0.537299608,0,0.843391446]],[1,[-100,0,50],[1,0,0,0],0,0,0]];
PROC main()
t_pince:=Tooldata_1;
t_pince.tframe:=PoseMult(Tooldata_1.tframe,[[-168.146,0,83.40],[Cos(-65/2),0,Sin(-65/2),0]*[0,0,0,1]]);
w_travail:=w_grille;
FOR i FROM 1 TO 2 DO
FOR i FROM 1 TO 4 DO
!trajectoire_prise;
trajectoire_pose;
w_travail.oframe:=PoseMult(w_grille.oframe,[[0,75,0],[1,0,0,0]]);
ENDFOR
w_grille.oframe:=PoseMult(w_grille.oframe,[[100,0,0],[1,0,0,0]]);
ENDFOR
Remise_a_zero;
ENDPROC
PROC trajectoire_prise()
MoveAbsJ JointTarget_15,v1000,z100,t_pince\WObj:=w_support;
MoveAbsJ JointTarget_2,v1000,z100,t_pince\WObj:=w_support;
MoveAbsJ JointTarget_16,v1000,z100,t_pince\WObj:=w_support;
ENDPROC
PROC trajectoire_pose()
MoveAbsJ JointTarget_18,v1000,z100,t_PinceTroisMors\WObj:=w_travail;
MoveAbsJ JointTarget_17,v1000,z100,t_PinceTroisMors\WObj:=w_travail;
MoveAbsJ JointTarget_3,v1000,z100,t_PinceTroisMors\WObj:=w_travail;
MoveAbsJ JointTarget_19,v1000,z100,t_PinceTroisMors\WObj:=w_travail;
ENDPROC
PROC Remise_a_zero()
MoveAbsJ JointTarget_21,v1000,z100,t_PinceTroisMors\WObj:=wobj0;
ENDPROC
ENDMODULE
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