Posts by SomeTekk

  • ABB Position register equivalent

    To summarize, for a WZ to work as intended, it is best practice to create a Power On Event routine to define the WZ. Once power is cycled motors must be powered on AND based on the shown jPosDelta all 6 robot joints must be +/- 3 mm from the definition of jHome.

  • New system does not load

    Canyou X-Start the IRC5 and see if there are already systems on the Compact Flash?

    Also, if you are able to get to the Boot Application you could set an IP up for the LAN port and ftp to the CF and see if there is a problem.

    Finally, if the CF is a clone, good luck. VxWorks (the control kernel) is very difficult to get working as intended.

  • Independent movement of robot 1-5 axes

    If it is in the RW5.15.XX or newer family, there is a choice in DriveModule Options for Drivemodule only or No IRB manipulator.

    I am many years removed from anything newer than 5.15, but suspect it is possible with newer RW.

    A user known to me does have a multi-motor construct WITHOUT a TCP-robot running with RW6.0X. I do not know how those are created in Installation Manager.

  • WZDOSet throws "WZone Outside Work Area"

    The max values are not displayed anywhere but in the text of a MOC file. They must be edited offline and loaded in the control.

    Why?

    If an entity wants to limit potential disastrous changes that uneducated programmers may accidentally introduce, like opening a boundary up to a value that will allow full speed collision into a hard stop, hidden min & max values are a possible solution.

    There isn't a correlation I am aware of between delta values and max values. Not sure about the history of this chain, but if the max values are too restrictive boundary violations will be generated and adjusting the joint boundary values shown on the pendant and RS will be valueless.

  • IRC5 Flexpendant swap

    The pendant's version of WindowsCE must be matched with the RW version. Conveniently the controller checks the pendant OS version, if it does not match an image download is automatically performed without any need for user intervention. It can take a while but eventually the pendant should boot up.

    The above is true for IRC5 controls. I cannot confirm the authenticity of the above for pre and post IRC5 controllers ,

  • Torque measurement

    I suggest investigating ABB's TuneMaster Log Signals program. It should be in the same folder as Test Signal Viewer (TSV).

    One facet TuneMaster possesses that I really like is that it interrogates the MOC file and determines mechanical units.

  • Torque measurement

    Good ol' ABB, making simple requests torture. Also ABB can make it difficult to convince customers to try their products because of their rigidity.

    I suspect ABB will be pleased to have you try their Remote/Connected $ervices which will make it 'easy' for the end-user to stay on top of their robot population's health.

    Here's the text from the manual (emphasis mine):

    Only test signals for external axes can be reached. Test signals are also available on request for the robot axes and for not predefined test signals for external axes.

    Yes, in this facility only external axes are measured.

  • Import back-up into Robotstudio

    Look in the root directory of your backup folder for a file with the name system.xml.

    Open the file (I use a web browser after right clicking on system.xml). The used media is specified quite close to the top of the file.

    <UsedMedia>

    <Media path="C:\PROGRAM FILES (X86)\ABB INDUSTRIAL IT\ROBOTICS IT\MEDIAPOOL\ROBOTWARE_5.15.8017" name="RobotWare" version="5.15.8017.08"/>
    <Media path="C:\PROGRAM FILES (X86)\ABB INDUSTRIAL IT\ROBOTICS IT\MEDIAPOOL\SAC_5.15.8017" name="SAC" version="5.15.8017.08"/>

    </UsedMedia>

    Make sure your media pool contains the those files.

  • Torque measurement

    I found a lot of problems with RW5.15 & 16 in getting torque to be measured consistently, even following the examples in the RW manuals. After a fair amount of time experimenting, eventually consistent success was found. It was simply adding a delay between the TestSignDefine instruction and TestSignRead function.

    Here's a snippet of (a fairly involved torque measuring) bit of RAPID:

    PROC rAxisMeas(num nAxisNum)

    TestSignReset;

    TestSignDefine 1,9,A_mecunit,nAxisNum,0.001;

    WaitTime nSigDelay; ! Experiment with variable to get reliable readings.

    ...

    (routing via Test Case of nAxisNum for GO setting - I MAY try AliasIO, for now this works)

    ...

    nTrqVal{nAxisNum}:=TestSignRead(1);

    nAbsTrgVal:=Abs(nTrqVal{nAxisNum});

    SetGO go_TrqAx...,nAbsTrgVal;

    ...

    ENDPROC

    This code is executed as part of a few background tasks.

  • by mistake I start my robot ( 4600 ) and i lost everything ( Please help )

    In the root directory of a good backup open the system.xml file and observe the 'used media' information. That will let you know what ABB media will need to be to present and in what location.

    If you do not have the necessary media contact your local (country's) ABB office and request the installer files. Ensure the paths the installer uses match your system.xml options.

    E.g.:
    <Media path="C:\PROGRAM FILES (X86)\ABB INDUSTRIAL IT\ROBOTICS IT\MEDIAPOOL\ROBOTWARE_5.15.8017" name="RobotWare" version="5.15.8017.08"/>

    Good luck!

  • RobotStudio. Failed to install virtual controller.

    In this facility a large number of problems occurred (especially with RS!) after, without any announcement, the IS team presumably ran a script which moved all kinds of files, and many Windows registry entries, off of local machines and moved them to MS OneDrive ( :face_with_rolling_eyes: ).

    To obtain any degree of success with virtual systems I've had to move files to a local PC location that does not get older files deleted as well is shielded from OneDrive activities.

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