Posts by nezzreth
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I just got this problem fixed today. I never knew what the cause was but I spent hours with ABB tech support and trying to figure it out on my own. I finally said "screw it" and just rebuilt the system with robinstall. Seems to be working now.
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I can't attach files to private messages though website. I will PM you my email, then you can send me yours and I can send it through normal email.
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I am trying to use the ArcLSto/ArcLRep command on my S4C+ controller for multipass welding. The tracking and welding work normally, but when the program gets to the ArcLRep instruction it says that no path has been recorded. I’ve tried using PthSaveToFile and PthReadFromFile; I have tried programming in RobotStudio then editing my code, as well as programming with the teachpendant. I tried using a recent system backup and the oldest system backup I have (as well as all of the ones in between).
I think my problem might have something to do with Awc_2.mod because according to my Advanced Weld Control 4.0 Product Manual that is the module that controls path storage and adaptive tracking. I know my code is correct because it is modeled after an example straight out of the book.
Here is a copy (not the exact one I am using) of the Advanced Weld Control Product Manual
http://www05.abb.com/global/scot/sc…257b4b00522b63/$file/505498-102.pdf
I am attaching my first post about this issue as well as the backup I am using. I have been stuck on this for 2 weeks.
Help me Obi-Wan Kenobi, you're my only hope.
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The specific error I get when trying to use ArcLRep is:
Warning!
An error has occurred...
No path in memorySelect Action
Retry MoveOut Stop
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Using RS 5
I tried with blocked welding then also with welding on
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My weave data for wv6
weave_shape 1
weave_type 0
weave_cycle 2
weave_width 6.5
weave_height 0
dwell_left 0
dwell_center 0
dwell_right 0
weave_dir 0
weave_tilt 0
weave_ori 0
weave_bias 0
sync_left 95
sync_right 95
wg_track_on 1 -
I am using the latest RS to program for my older S4C controller and trying to use AWC for multipass welds. My problem is that when I go to replay the path with an offset, the controller tells me that a path has not been recorded. I tried blocking welding/tracking, then I tried letting it weld in hopes that it would record the path. Still nothing. I am using a small program to test this on a piece of angle iron until I get it working. Can anyone see an obvious mistake that I am making?
TL;DR Weld path not recording
My code:
MODULE mPart_1
CONST robtarget p9:=[[0.000641285,-107.459882173,307.780291314],[0.432892239,-0.473484273,-0.667507418,-0.37795608],[0,0,0,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p4:=[[-12.940683173,32.52436489,43.675635075],[0.183012702,-0.683012702,-0.612372436,-0.353553391],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p5:=[[0.00026909,66.675,9.525],[0.183012702,-0.683012702,-0.612372436,-0.353553391],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p6:=[[152.40026909,66.675,9.525],[0.122787804,-0.69636424,-0.579227965,-0.405579788],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p10:=[[131.269355979,34.632180876,41.567819065],[0.122787804,-0.69636424,-0.579227965,-0.405579788],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p7:=[[131.269527876,-148.450168387,364.827650222],[0.122787734,-0.696364398,-0.579227913,-0.405579612],[0,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
CONST robtarget p8:=[[449.496471286,-552.735754691,977.041134381],[0.049839746,-0.673925549,-0.233929253,-0.699011773],[-1,-1,1,0],[2512.656927109,9E9,9E9,9E9,180,9E9]];
PROC Path_1()
ActUnit STN2;
ActUnit TRACK;
ConfJ\Off;
ConfL\Off;
MoveJ p9,v500,z5,tWeldGun\WObj:=wobjTable;
MoveJ p4,v1000,z5,tWeldGun\WObj:=wobjTable;
ArcLSto\On,p5,v1000,sm1,wd21,wv6,z5,tWeldGun\WObj:=wobjTable\Track:=tr1\Spacing:=2;
ArcLSto\Off,p6,v100,sm1,wd21,wv6,z5,tWeldGun\WObj:=wobjTable\Track:=tr1;
MoveL p10,v1000,z5,tWeldGun\WObj:=wobjTable;
ArcLRep\On\Off,ly1,v100,sm1,wd22,wv6,z5,tWeldGun\WObj:=wobjTable\Track:=tr1;
ArcLRep\On\Off,ly2,v100,sm1,wd22,wv6,z5,tWeldGun\WObj:=wobjTable\Track:=tr1;
MoveJ p7,v500,z5,tWeldGun\WObj:=wobjTable;
MoveJ p8,v500,z5,tWeldGun\WObj:=wobjTable;
ENDPROC
ENDMODULE -
When programming on my S4C controller using ArcLSto and ArcRepL is fairly straightforward. Now that I'm learning RobotStudio this is no longer the case. I was able to import action instruction for ArcRepL so it's now part of action instruction list. But, how do I store a welding path with tracking then replay it in RS?
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What controller version do you have?
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try changing zone to 0
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In case anyone else has this problem I finally found the menu almost two weeks later. Under the AWPP tab, expand "Templates", expand "Tool Properties", right click tool, BOOM.
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Do you happen to know the correct format for adding that pose? I tried "CONST Pose peDispS1;" But robotstudio gives me the error [Syntax error(135): Expected ":="]
MODULE mPart_1
CONST Pose myPose;
CONST robtarget p6:=[[-33.02573091,82.073372928,65.417957699],[0.20798075,-0.675828325,-0.558006904,-0.434313686],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
....................................................
ENDPROC
ENDMODULE
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In the picture from the ArcWelding PowerPac v5.10 it says I can set where the gas cup hits for SmarTac searches. I haven't been able to find this context menu in RS 5.6. Can someone hold my hand like a small child?
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Exactly what I was looking for! Thank you so much!
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Once I had workobjects defined all around the model and in real life the rest was a snap! Now I get to go deeper into the rabbit hole.
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I know how to go about it on the teachpendant, but I was wondering if there were a way to add a new displacement (peDispS1 for example) inside the rapid code for the above module, without having to define the new data inside the teachpendant.
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I would like a way to add a pose datum to the module I am exporting to the real controller. I am using an older controller (S4C) and the on board memory is quite full. In the module, is there a way to define new pose data like robtargets are defined? This would make saving programs on the PC and simply exporting the individual modules with the defualt naming conventions much easier.
MODULE mPart_1
CONST robtarget p6:=[[-33.02573091,82.073372928,65.417957699],[0.20798075,-0.675828325,-0.558006904,-0.434313686],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p7:=[[-3.02573091,82.073372928,65.417957699],[0.20798075,-0.675828325,-0.558006904,-0.434313686],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p8:=[[10.375748183,33.649,60.524804353],[0.008297445,-0.790304194,-0.514987682,-0.331870639],[0,-1,2,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p9:=[[10.375748183,63.649,60.524804353],[0.008297445,-0.790304194,-0.514987682,-0.331870639],[0,-1,2,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p10:=[[7.904841212,83.730206377,109.226],[0.24402948,-0.633410284,-0.52560271,-0.512818502],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p11:=[[7.904841212,83.730206377,79.226],[0.24402948,-0.633410284,-0.52560271,-0.512818502],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p12:=[[0.00026909,31.319660931,44.880339049],[0.27059805,-0.653281482,-0.653281482,-0.27059805],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p13:=[[0.00026909,66.675,9.525],[0.27059805,-0.653281482,-0.653281482,-0.27059805],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p14:=[[152.40026909,66.675,9.525],[0.27059805,-0.653281482,-0.653281482,-0.27059805],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p15:=[[152.40026909,31.319660931,44.880339049],[0.27059805,-0.653281482,-0.653281482,-0.27059805],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p16:=[[-84.930277019,82.07250455,99.552619775],[0.207981033,-0.675828398,-0.558006604,-0.434313823],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p17:=[[-40.436539313,59.237789974,90.894837257],[0.207981192,-0.675827383,-0.558007372,-0.434314339],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p18:=[[-50.407445616,44.745403819,93.664718473],[0.008297479,-0.790304204,-0.514987164,-0.331871417],[0,-1,-2,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget p19:=[[7.904582713,53.734069055,103.031334315],[0.244029393,-0.633410934,-0.52560186,-0.512818612],[0,-1,1,0],[2568.284034729,9E9,9E9,9E9,9E9,9E9]];
PROC Path_1()
PDispOff;
ConfJ\Off;
ConfL\Off;
MoveJ p16,v1000,z0,tLongNeck\WObj:=wobjTable;
Search_1D\NotOff,peDispS1,p6,p7,vmax,tLongNeck\WObj:=wobjTable\SearchName:="Search_Weld_1_Search_1";
MoveJ p17,v1000,z0,tLongNeck\WObj:=wobjTable;
Search_1D\NotOff,peDispS2,p8,p9,vmax,tLongNeck\WObj:=wobjTable\PrePDisp:=peDispS1\SearchName:="Search_Weld_1_Search_2";
MoveJ p18,v1000,z0,tLongNeck\WObj:=wobjTable;
Search_1D peDispS3,p10,p11,vmax,tLongNeck\WObj:=wobjTable\PrePDisp:=peDispS2\SearchName:="Search_Weld_1_Search_3";
MoveJ p19,v1000,z0,tLongNeck\WObj:=wobjTable;
PDispSet peDispS3;
MoveJ p12,v1000,z10,tLongNeck\WObj:=wobjTable;
MoveL p13,v1000,fine,tLongNeck\WObj:=wobjTable;
MoveL p14,v100,fine,tLongNeck\WObj:=wobjTable;
MoveL p15,v1000,z10,tLongNeck\WObj:=wobjTable;
ENDPROC
ENDMODULE -
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