Thank you,bsrr.
But when will Robot timer start counting 0.3s? At P1000 or at 500mm away from P100?
Thank you,bsrr.
But when will Robot timer start counting 0.3s? At P1000 or at 500mm away from P100?
Hi everyone.
I have a small program like below:
'-----
MoveX A=8, AC=0, SM=0, M1X, L, P1000, R=100, H=1, SM
DELAY 0.3
SET 0100
WAIT I100
RESET O99
END
'----
Move to P1000 is the last move command in this program. Robot will execute the next move command when it run into other program.
So I don't know if accuray parameter "A=8" is remained or not? And when the timer starts counting 0.3, when Robot TCP reaches P1000 or when Robot TCP is 500mm from P1000 (accuracy range of A=8).
If you know the answer,please help me.
Thank you very much.
A ơi e đang kết robot Abb với PLC Q bằng cclink dùng QJ61bt11N và board DSQc 378B.Em chưa biết cấu hình robot và PLC.A có tài liệu không cho e xin tham khảo với
Hey, I'm connecting Abb robot to PLC Q using cclink using QJ61bt11N and DSQc 378B board. I don't know the robot configuration and PLC.A have any documents for me to refer to.
You can inbox me and we will discuss about how to setting.
Yes I think the reason is accuray of NACHI robot. Do you know any document that mentions about accuracy of NACHi robot?
Where in the above code you have given are you modifying the Z
I modify directly in Pose file screen, then I execute program again and monitor Variable screen
Are you able to share the code you have written for this
Of course, here is my code:
4 POSE2POS 0,P111,End_Pos[1],1,1
5 POSE2POS 0,P121,End_Pos[2],1,2
6 POSE2POS 0,P211,End_Pos[3],1,1
7 POSE2POS 0,P221,End_Pos[4],1,2
8 POSE2POS 0,P311,End_Pos[5],1,3
9 REM "**********************************************"
10 REM "Variable Change(Pos -> Real)"
11 V1% = 1
12 WHILE V1%<=5
13 OPEPOS 0,End_Pos[V1%],End_Pos_Real_TEMP[V1%,1],0,0
14 REM "----------------------------------------------"
15 REM "X,Y,Z,r,p,y,c -> X,Y,Z,Rx,Ry,Rz"
16 End_Pos_Real[V1%,1] = End_Pos_Real_TEMP[V1%,1]
17 End_Pos_Real[V1%,2] = End_Pos_Real_TEMP[V1%,2]
18 End_Pos_Real[V1%,3] = End_Pos_Real_TEMP[V1%,3]
19 End_Pos_Real[V1%,4] = End_Pos_Real_TEMP[V1%,6]
20 End_Pos_Real[V1%,5] = End_Pos_Real_TEMP[V1%,5]
21 End_Pos_Real[V1%,6] = End_Pos_Real_TEMP[V1%,4]
22 REM "----------------------------------------------"
23 V1% = V1%+1
24 ENDW
Hi everyone.
I have a problem when reading value from pose file. I use POS2POS and OPEPOS to read coordinate value from Pose file and write to V! register.
For example, z value of P111 is 54.232:
1. When I modify z: 54.232 --> 54. 236 or 54.241 or any value between 54.23 and 54.25, the displayed value will always be rounded to 54.23 or 54.25, never 54.24. Even when I enter exactly 54.24, the displayed value will also be 54.23 or 54.25
2. When I modify z: 54.232 ->54.216, the displayed value is rounded to 54.22. But when I use OPEPOS to write to V1! register, the V1! value will never be 54.216, it will be some values like 54.214xxx 54.217xx,...
Please help me figure this out. Thank you very much.
But when this error occurs, will Robot stop program execution?
Yes, does ABB support any signal to detect dead battery?
Probably yes after reset error but... I suppose that every 10th hour the new error will occur (as you can read in manual). I think it's should be repleaced as soon as it possible, because you don't know when battery will fail - and this could make much more complicated issue. It's a good behaviuor to take into consediration with this kind of signal for maintenance forecast. It's not a big deal to repleace battery (described in manual for every arm).
Hi HyperLenon.
I setup a System output "SMB Battery Charge Low" with signal "co11". When I turn off robot controller and turn on again, I see 2 errors on Flexpendant: "Battery Backup Lost" and "Revolution counter not updated".
I guess the battery is discharged. But the signal "co11" is not ON. I leave the controller there and check again after 1 day, but "co11" remains "0".
Do you know why the system output "SMB Battery Charge Low" is ON in this situation?
yes, Thank you
Thank you very much.
Will robot continue working when this system signal is On?
Hi.
Will IRC5 controller send any warning message when SMB battery voltage is low and need to be replaced (robot is On,not shutdown and power on again)? Or is there any. solution to detect when SMB battery need to be replaced?
I made all of them using python
You are awesome
Have you ever programmed NACHI robot?
Thank you, are these images from RoboDK?
and here the sugguestion from RoboDK
Actually, I have never used RoboDK, just use FD on desk and ABB robotstudio. I don't really understand the image :(( . NACHi rotation order is ZYX about fixed frame (machine coordinate), but in your image, I see NACHI use Z Y' X'' and it means rotation about mobile frame?
Yes I checked NACHI documents and found answer.
Thank you bsrr.
For example, I have P1=(X,Y,Z,Rz,Ry,Rx)
With that order I will have 3 matrices Rz Ry Rx, and finally I have the matrix:
R=Rx * Ry * Rz
R will give me the orientation relation between tool frame (at P1) and machine coordinate, is that right?.
Sorry for my question because perhaps it is rather simple for who have robotics background. I don't have robotic background and I am trying to read about it to do some calculation in my NACHI robot program.
Thank you.
I never programmed Naichi and do not know the convention (see documentation), but a lot of Omron Adept and Kawasaki - both has ZYZ. That means Yaw is a rotation about the local reference frame Z axis,
Pitch is defined as a rotation about the local reference frame Y axis, after yaw has been applied. Roll is defined as a rotation about the Z axis of the local reference frame after yaw and pitch have been applied.
The rule (rotation order) is the same. You only change ZYZ to ZYX (if it is documented by Naichi). It does not matter wich frame, you calculate difference between frames.
Thank you.
Hope someone who has much experienced in NACHI robot help me answer this question.
Hi!
Different robot producers use different Euler conventions (ZYZ, ZYX, XYZ). But this indicates only the sequence of rotations: the orientation components are always applied in a strict order—yaw is applied first, then pitch, and, finally, roll.
Thank for your reply .But which Euler convention is used in NACHI robot? ZYX or XYZ,.? rotate about fixed frame or mobile frame?
For example,I have a pose varible:
P1=(X,Y,Z,rZ,rY,rX)
I want to calculate the transformation matrix from this data, so I can have the relation between P1 and machine coordinate frane. Then I need to know the rotation order.