Posts by ka sc
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I seem to be unable to export a mechanism with more than 1 joint as an external axis in robotstudio (I am using Robotware 6.09), i need to make it a robot for that.
That will fail it with external axis wizard. Since it seem to have worked OK in this video form 2015 I would love to clarify if that is intentional/ a feature / a bug and how to get around it
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We ended up trying to fake a 2 axis positioner in simulation. No support for anything else as far as anyone can tell
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I guess its additional .cfg files in the end.
But its apparently not expected to work (driving the base frame of 2 robots with the same axis) in first place.
We dont have an actual quote yet, so not quite sure what we are paying for and how much.
A bit surprising the whole thing
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Nice forum update...
So word is now that is not a bug: its a hidden/ undocumented robot studio feature so secret even support didnt know.
If you pay for it separately only apparently. Well...
We are thinking to pretend we have a 2 axis positioner in simulation only and still use 1 track in real system.
Anybody can think of what might go wrong with that workaround?
Our other options are SiemensNX or ros industrial but no idea if they have proper external axes support?
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We are talking to abb support, if we come up with a good solution i post it
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One less mystery, I think the target does not display in the correct location
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Does "Baseframe moved by mechanical unit" work between different tasks (robot is 1 task, mechanical unit another)?
Can I move the base frame in rapid? -
Simple rspag (2x ibr120, rtt_bobin), 3 separate tasks for each.
https://drive.google.com/file/d/1WM02UC…iew?usp=sharing
Whe I try to make the baseframe of either robot moved by rtt_bobin by either linking them or changing the motion paramters under robot the controler fails starting up again. Errors look similar to50348: Log signal definition failed
Description
Definition of a signal failed for ROB_1, axis 6 on channel 0.
Causes
The signal number does not correspond to an actual log signal.50348: Log signal definition failed
Description
Definition of a signal failed for ROB_1, axis 3 on channel 0.
Causes
The signal number does not correspond to an actual log signal.I understand it cannot connect to both but 1 should work? Am I doing this wrong?
How long could it potentially take to start up the controler? -
https://drive.google.com/file/d/1k4zmSr…iew?usp=sharing
It shouts over the target by quite some distance and continues the program (everything is offset from there with no errors).
After resetting the task frame its slightly better but still off the target. I am using tool0 but that shouldnt matter?
I wish I knew how to debug it best. -
I figured the above out but turning it on freezes the controler once more, ah well :).
What could be wrong if external axis wizard wont recognize my custom mechanism (external axis)?
If I build my system with a similar mechanism and swap it out in edit mechanism all is fine -
Is backup a useful way of versioning a station?
I have restored a backup in my station but still trying to get a working version back after a crash left it with errors.
Is the backup functionality expected to be used for that? The only other way I can think of is writing out pack and go archives.Also, can I lock my rapid code for debug so no updates from station are made? It can be quite confusing to debug...
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Maybe its as easy as tcp trace, would it work with targets moved in code?
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Seems the station gets more unstable if I allow the elevator in the seperate tasks to move the baseframes of the robots.
There inst anything wrong with doing that conceptually?
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If the coordination is by multimove and 4 separate task, would I even specify external axes in my robtargets?
Or just each of the mechanism does their move framed by sync instructions?Looking at the arc welding example station
the positioner uses external axes
CONST jointtarget jt_8:=[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,-210,9E9]];
but not the robots
CONST robtarget p8:=[[163.608017077247,61.290005050343,541.181226034264],[0.20676997920864,-0.383077058155233,-0.518671257617217,0.735852070551524],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
Is that a better way of handling it?My station keep on restoring old controller and motion settings on controller restart, is that in any way intended? saving parameters does nothing, i can load them back but they disappear again.
Also stations that cannot start the controller anymore scare me, no way of applying backup or seeing whats wrong? -
We are buying 2x mu100.
I try to add a 4th task and remove the elevator mechanical unit from the robots at some point the controller hangs (message just shows starting) while re-starting leaving me unable to restore a backup or debug much.
Is there any good way to handle this? My new tasks show in controller dont sync to path & Targets view.
I am going slightly crazy with thisAlso updating to robotware 6.0.8 from 6.0,7 seems to bust the scene (not that i need to badly).
Are the 32 bit and 64 bit version fundamentally different? -
Yes, all of the above are possible.
But wouldn't we need another drive for a forth task? I mean an additional piece of hardware.
Otherwise that is probably the solutionThe other option (motor with 2 resolvers) is hardware as well? Obviously we haven't gotten any of the hardware delivered yet.
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Ok, I add second robot back. very curious to see what happens with a value set from 2 different tasks.
While dual resolver model setup sounds like the right thing to do I am not sure how to approach it. Is it actual hardware in the end?
Could robot 2 just read the current elevator position and use it?