That is correct. RelTool won't modify the data stored in your position. Keep in mind: RelTool is an offset relative to the active tool frame.
how does the Offs command work in comparison? Would that offset the position relative to the active work object? I think that's what I need and that would explain why my +25 in the z value is driving it deeper into the part rather than further away.
Use the reltool function for your drop position. It already features the roll pitch yaw which you are wanting. As for why they use quaternions, I don't know.
does Reltool redefine the position data? if for example i use MoveL Reltool (Drop_point, 0, 0, 50), v100, fine, tool1; it will stop 50mm above the drop point but Drop_point will still be stored at the original position, correct?
I'm trying to figure out the best way for a customer to make minor tweaks to a drop position without having the robot physically move to the drop position because the tool is hot and will begin to warp the end of arm tool on the robot after too much exposure. Altering the X,Y,Z coordinates is easy just measure the finished part and add or subtract the value in the program data. But when it comes to the rotation, I was hoping to be able to do the same and just add or subtract the appropriate number of degrees or radians, but the rotational data is stored in a Quaternion form and therefore would at the very least require several complex calculations that would have to be done on the fly.
So I have 2 questions:
1. Why does ABB use this, what is the benefit of using this Quaternion system vs simple pitch, roll, yaw coordinates? I understand how to calculate it, it just seems like an unnecessary extra step and very difficult if not impossible to go the other way.
2. What would be the best way to set this up? I need the customer to be able to manually adjust the X, Y, Z, pitch, roll, yaw from the teach pendant without having to reverse engineer the Quaternion coordinates if possible.
we have a brand new Omnicore C90XT that we're setting up. pretty much done and I'm going through everything, dotting t's crossing i's, and I noticed a button that I had never seen or used before. If the screen is the front of the teach pendant it's on the top seemingly meant to be pushed by your thumb as you hold the dead man switch. what is this button for? I've done some research looking for an IPB for the pendant or a button layout but I can't find anything about it.
I figured it out, there is a default password for the admin login that gives you access to everything. default user is essentially operator credentials so very limited access.
For your permission issue, it depends. If there are no other users on the system, you can log into the controller as the default user and it will have all permissions necessary to edit SafeMove properties. If someone else has gone in and added specific users, you will need to view the user grants, see which one can edit SafeMove, obtain the password for that user and then log in to the controller.
Thats what i thought, with the default user i figured i would have access to everything. it is a brand new robot fresh from the factory so it shouldnt have any users unless ABB added one, correct?
ok I got that added, I created a signal for it but how do I edit the functions of that signal? it's not listed in the function mappings list and on the signal list it auto populated "SC_Feedback_Dev".
also, and this may be something I need to get ahold of ABB for but I don't seem to have permission to write the new safety data to the controller. it tells me I do not have "Safety services" grant, how do I fix that? I tried to add the grant but it's telling me I also don't have the "Manage UAS settings" grant.
I'm trying to set up a warning zone for when my robot enters the clampframe area of the machine. please forgive my ignorance with ABB systems most of my experience is with FANUC robots. i was able to set up my safe zone and clampframe zone and have built the protective bubbles around the arm and TCP and all that was fairly simple to figure out once i found the safety tab and figured out how to use the safemove menu. the only thing i cant figure out is how to link that zone to a DO. i want a DO to be on as long as the entire robot and TCP stays inside the safe zone (which also envelopes the clampframe zone) and a DO to turn on when its in the clampframe zone as an added safety for the PLC logic to block motor commands.
I told them that was the only answer and we made it work. I'm not sure why my plc guy didn't want a GO but that's what we're using.
that's what I suggested originally, I wanted to set up a GO but was told they needed DO's.
*Silent frustration*
thanks for the help
I'm trying to set up a cross connection for feedback on PLC speed override. we have it set up with a GI populating a num value and then speedrefresh to that num data. it works great other than the fact it does not feedback the new value to the TP (which I'm told is how it's supposed to operate). so, in order to get some sort of feedback that the robot received the correct number on the GI I'm trying to set up a cross connection so when GI=25 -> DO25 will go high, GI=50 -> DO50 will go high, GI=75 -> DO75 will go high and GI=100 -> DO100 will go high. I thought about suggesting DI's from the plc instead of a GI but for homing and maintenance purposes we want the ability to put any number 1-100 in that GI. when in its normal auto cycle, it will be restricted to 25, 50, 75 or 100 by this feedback I'm trying to set up.
the problem is when I set up the cross connection between the GI and a DO I can't set a value for the GI. it just links the GI to the DO with no other input.
ok the interrupt and trap seem to be working as advertised, I don't really like that it doesn't abort its current procedure to immediately go to the home position but from what I've gathered, from this thread and other sources, that's the way it's designed to work and I can't make it do what I'm trying to do. i very much appreciate all the info everyone.
The only issue i have now is the home procedure will only function if the main program is running, if it's in a stop condition or the program hasn't been started there is no way to trigger that procedure.
I've thought of a couple possible solutions but so far nothing has worked:
1. manipulate the PLC logic to send cycle start with the DI_Robot_to_home bit active. the only reason I don't like this (though I have not tried this yet) is because I don't want it to have to run through its first routine before running the trap both for time purposes and general safety, unnecessary moves = potential crash scenarios.
2. utilize a system input to Load and start a separate module with the homing procedure. I've tried to implement this but it always tells me "20147: Load and start rejected"
3. an event routine. I've looked into this a little but from what I can tell none of the trigger events are useful for this and it's not designed to be used this way.
A common practice is to delete an interrupt first, even if it is not defined, so a 41452 Argument Error 'Already connected' error does not occur.
Just saw this response after I sent my reply, I'm getting a similar error but basically saying the same thing. how do I "delete" the interrupt so it will run the next time the program is ran
- Declare your interrupt
- Connect you INT to a TRAP
- Tie a timer or signal to your interrupt
- In your TRAP routine, write your homing instructions
In the example below, when the digital input goes high, the TRAP routine will be called immediately after the completion of any current instruction on the stack. Once the TRAP is complete, execution will return to the previous stack level.
CodeVAR intnum INTERRUPTUS_MAXIMUS TRAP tr_VENGEANCE TPWrite "My name is Maximus Decimus Meridius."; RETURN ; ENDTRAP PROC main() CONNECT INTERRUPTUS_MAXIMUS WITH trVENGEANCE ISignalDI di_TellMeYourName,1,INTERRUPTUS_MAXIMUS; IEnable; !Production Stuff ENDPROCThere is a lot more that CAN be done, but this is the basic structure.
I just set up a trap similar to what you suggested, and it seems to work but with a few bugs.
1. it finished the routine it was running before going home. is there any way to make it either finish the movement it's on then jump to the trap or stop in its tracks (preferably this way) and immediately start the trap routine.
2. I want it, after running the trap, to end the module so the operator has to start from the beginning. is the "exitcycle" command at the end of the trap the correct way to do this?
3. when trying to run the program a second time i got an instruction error telling me it's not legal to connect a variable to a trap more than once. is there something i need to add to reset that at the end of the module? how do I address that?
Check you IO mapping to make sure that there is no duplicate mapping on that output number. Especially likely that it could be a group output overlapping.
good call, i forgot that i had mapped that through system outputs when we were first setting I/Os. ill know after testing if that fixed the problem
Does that mean that your program for the WZ definition is connected to the Power On event? The WZ signal is set to ReadOnly?
Could you share your program (or at least some pictures) and the relevant settings?
yes, the program for the Worldzone definition is tied to the power on event and the DI is set to read only. pictures of this program and the target data used is in post #8 on this thread.
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.
i understand that i need to turn the motors on before ill get the signal which seems to be how its working but why would the signal turn off (sometimes not every time) when the motors off signal is received. and why would it not turn off as the robot is running through its main program? that's my biggest problem with it, when its in auto, no matter where the robot is in its motion the robot_at_home signal is on.
i do not have a homing program set to trigger at start up just a program to set a worldzone for the home position. usually when we go motors on the signal will pop up but not always. and sometimes motors off will turn it off even if its sitting at home. if i jog the robot out of then back to its home the output will turn on and if i jog out of home it turns off like it should but for some reason will be on most of the time when running the main program in auto. no matter where the robot is the robot at home bit is on. the customer does not want the operators to have to touch the TP at power up so i need it to see that its home without having to jog the robot.
i do not have the path recovery option listed in my options. i do believe i figured out how to call the program, i just listed it as a system input however i have yet to test it because im still trying to build the program.
i am trying to set up a home program so if the robot is stopped somewhere in its program (crash, power outage, estop,...) anything that may cause it to stop, run this program and it will go to its home position. this is easy for most of the robots workspace but it enters a clampframe to set a HIC part at the end of its cycle. i need to check my z coordinate to make sure im above a certain position and if not move above it then check my y coordinate and if its in the clampframe back out to a safe positions. from there the rest of the program can get it home. ive looked into a few options (Cpos, searchL, CrobT) and i think CrobT is my best option, it records the current position to a point then i can examine that for my y and z values. thats what i need help with, how do i extract the y and z values from that point and then use them for conditions to move to a safe position?
or is there a better way to do this?
