Posts by awildcat

How were you able to do this?

Quote from SAABoholic

A workobject consists of two frames... a user frame and an object frame.

The code is updating the user frame and as such the code is working as it's written.

Without seeing the same workobject / code from the original robot it's difficult to say if someone changed Wobj_R3_WL_LHD.oframe >> Wobj_R3_WL_LHD.uframe (seems unlikely since it requires a bit more knowledge than your basic operator would have) and/or how the data ended up in the oframe to begin with.

Wobj_R3_WL_LHD.uframe:=poseUpdate_R3_WL_LHD;

PERS wobjdata wobj_R3_WL_LHD:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[339.029,-535.441,1674.74],[0.0295868,-0.696639,-0.714709,0.0548686]]];

PERS wobjdata wobj_R3_WL_LHD:=[FALSE,TRUE,"",[[339.602,-535.121,1693.12],[0.0295224,-0.696099,-0.715246,0.0547515]],[[339.029,-535.441,1674.74],[0.0295868,-0.696639,-0.714709,0.0548686]]];

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Thank you SAABoholic. One of our technicians was reviewing the manual and found the information on the frames.

I set up the Work Objects originally using an Object Frame in the Program Data page. Before doing so, I asked a more experienced programmer how he sets them up. He said Object, but I don't think my question was the clearest. I misunderstood him and picked object on the RH side of the selection in the Program Data page instead of user.

We realized last week that the command was overwriting the user frame, this morning I changed it to oframe and it is working as expected.

The other programmers were using the program that creates the work object for them, I don't think they had ever created one in the Program Data page before. So it was mainly a miscommunication.

Can you provide some insight on the difference between User and Object frames? The machine integrator had written the command as uframe many years ago, we have decided to use oframe on this particular machine. It looks like the User is a child of the World Frame, and Object is the child of the User frame. We just want to make sure using Object frames will not cause a problem. The cross hairs we use to the set the object frames are what the part being cut sits on. There is no other mechanical unit or external axis that would be lower in frame order than the tool with the cross hairs on it.

Thanks again.

On an older robot system I’ve worked with (still IRC5 but Robot Ware 5.13.02) someone wrote a program to update the Work Object.

I used the same script on a new robot we have that has Robot Ware 6.07. When I run through those steps it changes how the work object is displayed and my points changed considerably. See notes below.

Work Object Data prior to Updating Script
PERS wobjdata wobj_R3_WL_LHD:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[339.029,-535.441,1674.74],[0.0295868,-0.696639,-0.714709,0.0548686]]];

Script to Update the work object (not sure what Origin=3 means)
poseUpdate_R3_WL_LHD:=DefFrame(pPos_X1_R3_WL_LHD,pPos_X2_R3_WL_LHD,pPos_Y1_R3_WL_LHD\Origin:=3);
Wobj_R3_WL_LHD.uframe:=poseUpdate_R3_WL_LHD;

Work Object Data after Update Script
PERS wobjdata wobj_R3_WL_LHD:=[FALSE,TRUE,"",[[339.602,-535.121,1693.12],[0.0295224,-0.696099,-0.715246,0.0547515]],[[339.029,-535.441,1674.74],[0.0295868,-0.696639,-0.714709,0.0548686]]];

Do I have a syntax error or should I use a different variable?

I’ve been in contact with ABB, the tech I’ve been working with is going to ask someone else there for guidance.

Thank you.

The robots do communicate, Robot 1 sends the tool ID to Robot 2. That’s handled with a group output.

I’ll check with Fanuc on adding Spacecheck.

The Robot I/O is shown in the attachment.

I don’t see DCS or spacecheck on any menu.

Thank you.

Thank you!

How do you set up collision zones on Fanuc robots?

At my prior job there were Sync routines that could be used to keep both robots moving in a controlled manner.

I'm looking to have one robot in a 2-robot cell wait to move into a zone until signaled from the other robot. Unfortunately this cell doesn't have a PLC, all the I/O is handled by Robot 1.

Thank you.

Is there a way to modify a point on an ABB robot with an S4C or IRC5 controller without jogging to it and then using ModPos?

I'm looking for something similar to Fanuc's direct entry method, where you can type in new coordinates without moving the robot.

Thank you.

I feel like an idiot.

Robot 3 and 4 cables were not plugged in after the shipment, I plugged them in and now I just have to update the rev counters.

One question I had was the difference between a Reset Restart and Revert to Last Saved. The warning on revert to last saved made me think it may go back to factory settings.

Thank you all for your help.

Thank you!

Thank you.

On an IRC5 is a B Start when you do an advanced restart then choose reset?

Here is the event log from Friday morning.

Here is the MOC file. I had to save a copy as a text file in order to upload.

Thanks for the feedback.

ABB support said the issue starts with the external axis, which is number 8.

I can try swapping cables at the base of the robots. I’ve attached a picture of the SMB box on this machine. I will post the MOC file later this afternoon.

We received a machine with 4 IRB-2400 robots and an external axis servo motor.

The controller is a Multimove IRC5, the robots are ceiling mounted but were not strapped up during the shipment from Ontario to Kansas.

On original power up the external axis was not connected, an SMB error came up then a system failure.

I connected the external axis and restarted but still have the error. I disconnected both ends of the SMB cable and did not see any loose wires. I plan to check each pin in that cable for continuity on Monday. The attachment shows the SMB error. I have been in contact with ABB support but they are slow to respond.

I wasn’t sure if a restart with reset would help. Thank you.