We use a 6 axis robot for tube bundling operation. A 4 axis palletizing robot would work better ( if I'd been smarter back when we got it). problems we have is if its long tubes, the robot overreacts and starts shaking till it shuts itself off. kinda solved it by doing it faster so it doesn't have time to overreact too much. higher ups want me to get a gantry style since the operation only needs 2 axis movement. then they want me to write a parametric program where you just tell it what size tube and size and shape of bundle and it will bundle it. I just have a program for every different tube size. just use and poffset for different lengths of tube. all the programs are virtually the same with just different offsets. travel for a gantry would only have to be 36" ( close to 1m) in the x axis and 26" (660 mm in the z axis) question i have is, does anyone make a standard 2 axis gantry robot that I wouldn't have to buy 4 linear drives and controller, pair them up and figure out how to set them up and program them? preferably just program it like I do the robot.
Posts by Lauyder
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Its not a safety device. its to detect if enough parts are present so the program can resume
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It's standalone
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I'm using a digital input to resume a program. just a bunch of proximity switches connected in series. problem with proximity switches is that if a part is a little bent or bowed it doesn't trigger switch. So i want to replace it with a light curtain / area sensor from automation direct. These sensors trigger the digital output when only one light is dark, ( not adjustable ) but the analog is 0v - 10v proportional to lights blocked. so that would work, but my robot doesn't have analog inputs. A DQSC355A has analog inputs but it's pretty expensive. Is there another unit I could use? Also thinking of just using an Arduino programmed to trigger a Do when Ai=<9.6v. could do that for $20 but then its not as simple to adjust the analog voltage required to trigger. of course anythings possible if your fluent enough programming Arduino. My Robot operator is familiar with it but not sure just how familiar.
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Thank you Hermann. The other programs that work don't have them in brackets either so I don't think that's the problem here tho.
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I anybody wants to look at it and see if they can find the problem, I would appreciate it. the reason I want to edit it with a pc is so I can edit it while the robot is running. I tried to find it but ended up just editing the program on controller once robot was done for the day.
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I just opened two programs side by side with notebook. One that was the way I wanted it and another that needed editing. copied whatever I needed from the old one and pasted to the new one and it works. my programs are all basically the same with a few offsets different. but we still improve on one of them and then they all have to be edited.
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Is there a way to edit the programs on a PC with the same program that the robot uses, where I can use the instruction menu? Rather then with text edit where I have to type every word perfectly. I believe it's called "Rapid"?
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Good for you. They are not actually parameters but Data declarations. They list the name, type and necessary components for that type. And you are already familiar with the importance of the names not being the same.
oh I know. what I don't get is how that stuff got into the base-mt module. could be one of the guys fooling around and saving something unknowingly I guess. They have had a habit of not saving the programs in the folder I specifically created for them, and saving them in random directories. When I talked to the ABB tech support guy, he seemed surprised that I hadn't had it happen before, with the way we load and save the programs, so it must be common.
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I converted the prg file into a text file because it said that prg was an invalid file format. if anyone wants to look at the program and let me know what the difference is between a progdisp and a pose. I know they both work for what we want to do. all we're doing is offsetting the program so its centered on the tube we pick up, since every run we put thru has multiple lengths. I'm guessing progdisp uses pose data to define how far to displace is?
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so far I just loaded programs. I never actually took the program and looked at it on a pc till today and noticed that it has all those parameters in front of the routines. I got a hold of ABB tech support and they recommended not deleting base-mt. Looked at it and was not sure how much I could delete. Like Lemster68 said, I just got another ambiguity error. So i deleted everything but the first bit that defines that it's for multitasking and opened it from thumb drive. I'm assuming that overwrote the old one, then it worked.
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no matter where I try to do it, it says it's in a read only module. Won't allow me to. Ended up putting the base-mt on a thumb drive, and editing it with a notebook on a pc, then loading it off of the drive. Then it worked. But still don't know if it will work next time I load another program. Haven't had time to test it since the guys had to bundle tube by hand till I got it going.
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but there is no tool0 used in the program. I get that there are 2 tool0's. But I can't delete any one of them.
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Lemster68, it will not allow me to overwrite it
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And then it's in this program. What am I not getting?
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This is the error I get
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This is the program it's supposed to run.
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"Xerim" it says module is read only. And I can't figure out how to change that. Lemster68, when I try to delete base-mt module, it says "can't delete file"
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Robot said after loading a different program that hadn't been used in a while, that tool0 is ambiguous. Found tool0 in base module and base-mt module. When I try to delete one or change name of one it says it's in a read only module. How do I know which one is the right one and which one was copied and pasted? ( I'm assuming that's what happened) funny thing is tool0 never gets used in that program, but it won't let me do anything.