Hello Everyone,
I am using S4C+ controllers.I want to know is there any way I can jog my robots to the three positions used to create the work object?
Or is there any way at least I know where is those three position stored in the memory?
Thanks
Posts by robomaniac
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If I think I understand what you mean, touching up the points IS essentially creating a new work object, but if you can locate physically on the original points when you move, great.Before trying this, you will need to know that your TCP Is the same as the one used when the workobject was defined - if you cant confirm that then tryi to locate on something will be moot. Usual with welding torch it’s set after the wire is clipped so it should still be relatively accurate if your programs are running correctly and your torch isn’t mangled.
If you’re lucky, someone saved the points they used for the workobject s as “pos” variables in the module file or in a system module so that would be my first place to check, otherwise I’m not sure if/where Abb saves the points used to creat a wobj (maybe someone else can chime in on that)
Alternatively if you open the Module that contains the workobject in a text editor, you can get the coordinates of the workobject and create a point with the same coords. Then you can make a MoveJ to that position (be careful) and the robotnwill move to the origin of the work object. Again make sure you’re using the same TCP or you could have weird orientations or crash your robot.if you succesfully get an origin that looks to make sense (corner of fixture, target on fixture etc etc) then you can use the Jog screen and the Workobject jog to move along a line and check that you’re following the fixture - from there it should be pretty clear if the workobject was following something in a cell.
For this reason I would recommend to anyone if they’re designing a workcell
- common base for robot and fixtures/parts
- locating features for fixtures
- engraved/scribed/machined features for visual locating
- treat robot applications like machining applications and you will thank yourself later!Thank you again tyler,
I have gone through programmes as you suggested but I couldn't find any work object points or any physical marks on the fixture.I think they didn't stored in the programmes.So,Now I have the only way to things start going is touch up each and every points using the robot pendent instead of creating a new word object and programmes.Because we have a very limited time to move the robots and It will take way long to create new programmes.Please correct me if I am wrong and its appreciated if you give me any suggestions.
Thanks again -
Thank you tyler,
Yes we have work object for our robots,But I don't know what three points they used to create those work objects as this line is 17 years old.Can you give me some details about how to check the work object points or is there any way I can know the three points of the work object they took to create these work object?
I am asking you because we are going to place all the robots with almost same position,So instead of changing the work objects I was thinking to touch up the points.
Any insights will be apprecitedthanks in advance
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Hello Everyone,
We are moving a MIG welding assembly line comprising 21 Robots from one place to another with same robot configuration and position.We are using S4C controllers and Robot models IRB 1400 ,IRB 2400 and IRB 6400.I wants to make sure what kinds of precautions I take before a move.Basically, all the robots have problems with the battery and they are not able to store the position after the power failure.So,We have to manually calibrate each robot every time we lost the power.I have few questions like Do i need to make a work object before moving the line?We are already using a work object in each and every robots So,I think if we make a new one it can mess up the program.I ma really confused right now Can You please share with me your experience with the precaution and tips before moving a robot line.
Thanks in advance