I have find an article about singularity, I will read it, if I have som free time.
https://blog.robotiq.com/why-singularities-can-ruin-your-day
I have find an article about singularity, I will read it, if I have som free time.
https://blog.robotiq.com/why-singularities-can-ruin-your-day
I have discussed with a partner (who have no personal experience with ABB programming) about robots, and programming.
I also have no experience with Yaskawa programming, hovewer I saw him when he stucked with a circular fillet weld with a Yaskawa, because the robot had some TCP problems.
I thought, it should be a five minutes job, to teach this task with our ABB. I did not understand exactly what was his problem with the Yaskawa, but it seemed a little bit more difficult to me compared to rapid.
So when we discussed on the exhibition, I told him (BullsEye) TCP measuring, and correcting device is very useful in series production.
He told me, in the case of Yaskawa automatic TCP correction works only with "relative job" and doesn't work with "pulse job".
Relative job does not store the jog orientation data, only the pulse job.
He told me, in some cases when the path is programmed in "relative job", and the 4th-5th-6th axes are nearly in a linear position (like this http://www.metalworkingworldmagazine.com/files/2014/04/…kawa_MA1440.jpg), because of the "singularity", somtimes the 4th axis can be turn into opposite position (with 180° difference), and can cause collision.
So they do not recommend to use TCP correction, and/or the "relative job".
So the TCP correction doesn't work, when you use jog movements (?)...
As I know, there isn't any similar situation in the case of ABB.
I did't learn any difference in programming when I use TCP correction and when I not.
On the other hand, I am not an expert of the topic
According to my experience, the BullsEye, and the automatic TCP correction is very very useful in series production (in the field of welding).
Is it really "dangerouos" when it comes to ABB?
Thanks for ligthing me up.
Thank You.
I have got it!
Hi.
At the I/O signal window (in ABB menu) I can see labels for some signals.
How can I add new labels for the them?
I cannot find any option in this window...
I always forget which signal I have to check when a problem occurs, or when I want to switch the welding power sorce into another mode.
I'd mark them with a label, and if I need to find them (one time a year), I can get it easier.
Where can I find the I/O signals for editing its values?
These signal are Digital Inputs, if I remember well.
I have tried to find them in program data window, but I was failed.
(IRC5 contoller)
Thanks for response.
I already have price for Octopuz, I will get price soon for Robot Expert (Siemens), and asked for Delfoi.
RoboDK seems good for me (in price and funcions).
When do I need additional CAM software for my OLP/simulation software? Only for machining?
I would use these sofwares for arc welding, and pick and place applications.
On the other hand, still I don't know that the Robot Studio Power packs and cad converter prices are also one year prices, or eternal license.
UPDATE:
all price is for one year license
Yes, I have found RoboDK. The price is on the website. It isn't expensive: 3k €.
Robot studio seems cheap at the first sight, however this 1.3k € doesn't contain Cad converters (step, igs, 3D specific formats), power packs (Arc Welding, Machine tending, picking, cutting).
These options means another 1.5k €/piece.
On the other hand, if I would like to use it only for arc welding and picking (what I exactly need at the moment) and buy a CAD converter (for example Solid Egde). It is about 5k €
Please recommend softwares for robot simulation.
Important features:
Mainly I'd use it for simulation (offline programming is not important now, if it is cheaper without OLP, it is an advantage).
I'd use if for arc welding combined with handling.
Thermal cutting could be an option...
We have ABB robot, but it'd be advantageous, if it'd be brand independent.
Price matters...
Softwares I already know (without any hands on experience in them):
Octopuz, ABB Robot Studio, Delfoi, RobCad
Any other possibility?
Pros and cons regarding these softwares?
Thanks for your respose...
András
Yes.
I have got the same answer from the support, that roulv mentioned above.
Only with Robot studio...
It’s called weld guide. It’s a through the arc tracking system. There’s an add on board and a sensor that the positive power cable runs through. We have this add on on our 4600 using a GMAW system.
I’m just saying it’s hard to believe that ABB would develop this system they sold us if the robot system was natively able to track a seam exactly the way this weld guide system does. I’ve seen crazy before but I think in this circumstance your mistaken. Good luck to you.
Sent from my iPhone using Tapatalk
I have got the answer.
Yes, Weld Guide is needed for arc sensor with some extra hardware.
On the other hand the cost is nearly the same as an optical tracking system...
However this solution doesn't limit the access as a camera...
According to the information I have, Arc sensor doesn't need any other hardware.
I have got in touch with the local ABB support, to get this cleared.
Mainly the Arc sensor uses the change in the arc voltage while we weaving the torch during welding to have a control signal for "tracking".
Hovever it is not a conventional tracking, as optical tracking.
Arc sensor can work with fillet welds, and bevelled groove welds.
So in my imagination, the robot controller should use the signals of the welding power source (arc voltage).
In this case, I don't think that are any other hardware needed.
As I know, our power source communicates with the robot via DeviceNet (or I/O card)...
I often use its I/O signals in the program (feed forward, feed retract, torchblowout etc.)
Sorry. I was wrong.
\Corr optional argument is belong to Move instructions.
ArcX instructions has /Track optional argument...
It is in another part of the manual
I will check it.
You're right. It will be the Weld Guide...
Hi All,
I would like to try the arc sensor (with a GMAW robot).
I have examined the existing manuals (Robotware Arc, Functions and data types, Rapid owerview) but didn't find any detailed desctriprion.
If I understand well, I have to use an optional argument '\Corr' in the ArcL, ArcC instructions to switch to path correction.
"Then the optional argument \Corr must be used in these movement instructions. The path
corrections will then be programmed using CorrXXX instructions, see below. These
instructions are only available if the option Path Offset or the option RobotWare-Arc sensor
are installed."
I didn't find the 'Corr' optional argument...
So the Robotware Arc sensor is probably not installed on this controller...
First, can you recommend a manual that lights me up about Arc Sensor?
How to setup, and use it in the program...
I have found the following instructions related to path correction:
• CorrClear
• CorrCon
• CorrDiscon
• CorrRead
• CorrWrite
• Data type: corrdescr
However it is not clear for me, are these for optical tracking, or can be used also for arc sensor correction.
Please share your experience.
Best regards,
Andras