It's not the answer you want, but the only way I know to find this out is to put the real load on the robot and do it for real.
Posts by SharplesR
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I don't know how to do it, but I believe that using the OPC server will give the HMI access to many data on the Robot.
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Can you please describe what you are trying to do? It will make it easier to understand what might be wrong.
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alikermen,
I'm not aware of a way to force the two to move together, other than making every move into a fine point. The program pointer reads ahead so that it can plan the next moves.
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The ippnio.xml file is generated during the profinet configuration activity. It is loaded to the robot harddrive, and the robot is told where to go to read the file. The file is used to configure the profinet network. I've tried editing the ippnio.xml file in a text editor before, but found it difficult. My recommendation is to use the profinet configurator program that comes on the robot DVD (in the utilities folder), and generate a new ippnio.xml file.
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Would a MoveLDO work for you in this situation? I think it does what you want.
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There are a number of programming activities that could be referred to as "Search Function". But there is no rapid command called "Search". What are you attempting to do?
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It's described in the attached excerpted manual pages. There are also some rapid instructions described in the manual "Rapid Instructions, Functions and Data Types"
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This is a shot in the dark for Question #2, but I notice that your velocity is set to v5000. I've heard of undesirable behavior when velocity is set too high on small movements (such as your 12 inch and 3 inch movements, where the acceleration and the braking of the movements end up fighting each other and giving poor motion.
Could you try setting your velocity to, say v100, to see if movements smooth out?
If you do find that it appears to be smoother, you can log the tcp speed with the robot studio signal analyzer, and find how fast the robot is actually getting, then set your velocity to a more appropriate setting.
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I believe what you're describing is that during a move with a large reorientation, the robot is slowing down. This as a function of the speedData you have selected. If you want the robot to move faster during reorientations, you can create a custom SpeedData that allows for faster reorientation moves.
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Do you plan to use force control?
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I'm a little confused here. I have a little experience with force control (emphasis on little). From what I recall, when you have force control active you cannot execute move commands. If you are able to execute a move home command I assume this means that force control has been deactivated. This means that you have, during the process of your force control movements, drifted beyond -165, and you are now looking to execute a move home command.
Does your move home need to end with a different axis 6 rotation in the above situation? Or are you wanting it to always go home with the exact same configuration, but it is not doing so?
I'm trying to imagine a reason why it wouldn't move home the same way everytime, and all I can think is that Lemster68 is on the right track.
If you want it to move home differently, you should temporarily turn off configurations using Lemsters68's command ConfJ\Off. You should immediately follow this up with a ConfJ\On, though. If you want the robot to always move home the same way but it's not, you should make sure to turn configurations on using the ConfJ\On command just before you move home. You should also find out why you are ever turning ConfJ/off. Usually on a non-paint robot it is considered unwise to turn the setting off.
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Based on the message, I'm guessing that the AbsAcc data is loaded, but has not been turned on.
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This requires a new system build. I would guess that the license file on your current robot is only activated for 6640-205/2.75, but if you start a system build you may find that the license file will allow multiple robots. If not, I believe you will have to call ABB for a new license file.
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Lemster68 is correct, this doesn't require the Calibration Pendulum. Just move all axes to their zero positions, and update rev counters.
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The only way I'm aware of to find your original workobject is to activate a pointer TCP and jog the robot to (0,0,0) in workobject coordinates. That should take you to the original origin point. Usually the origin point is also X1, but not necessarily.
If you then jog in X axis, somewhere along that axis will be the second poing (X2). If you go back to the origin and jog in +Y, you should find where the Y1 point was taught.
It's entirely possible that there was a workobject fixture temporarily in the cell that no longer exists, though. You may find that all the points are in space, in which case you're going to struggle re-teaching.
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Transmission error means that you have a faulty cable connection. Check your Ethernet connections between the Axis computer and wherever the wires go.
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In RobotStudio, on the left you will see the "Configurations" selection. Click the arrow to open the drop down, and double click "IO system" then click "Signal" this is your list of all signals defined on the system.
From here you can pick create a new signal, or copy an existing and modify it for more.
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By your question, I assume you are creating simulation programs. Is this the case?
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This is not how you create a power on event routine.
Power On routines are defined in SYS.cfg.