Easiest is probably to contact ABB and have them give you the information as to the exact model / generation.
Posts by SAABoholic
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Are you using wobj0 when jogging ?
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Which type of machine(s) is it, CNCs ?
Have you timed the robot program (use timers in rapid / robot code CLKStart / CLKStop) to determine if it's the robot that slower on one side or the machine itself ?
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PROC rutinxy()
WGS_Setup tw_ref,cs_bias,tw_gain,cs_gain\TR_Mode:=1;
ArcL\On,pxpla_4,v300,sm1,wd1,wv1,fine,TPKI_15BE;
ArcL\Off,pxpla_5,v8,sm1,wd1,wv1,fine,TPKI_15BE;
ENDPROC
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It's up to the local office to decide, but there's usually a fee to generate a new key from the mother-ship then it all depends.
May I ask why you're thinking about "upgrading" ?
Unless there's a new feature in RW6 that's not in RW5.6 then there's not much of a point.
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I could give you an example from an S3 controller with weldguide and smartac, but I'm guessing that's not what you're looking for so please elaborate on which controller / software and which tracker....
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Do you have any backups ?
Araxis Merge is fantastic, to the point where I bought a personal license simply because it's that good.
I use UltraEdit (syntax highlighting is great) as my editor, but their comparison software is still leaps and bounds behind).
Anyway...
If you have an old backup, make a new one...
Download Araxis merge: https://www.araxis.com/merge/download.en
Make a folder comparison between the old and the new.
You'll get a bunch of "crap" where a position have changed .2 of a mm which you don't care about, but try and find the pInitial that's lost. That should give you a hint as to what's going on.
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So you're using Bullseye 7 or possibly 6.3, the bullseye setup parameters are stored in one of your modules, either called simply bullsesydata or sometimes it was in user.sys, kind of depends on the programmer who set it up.
Seems weird that this data would be missing as well from deleting a pose unless a whole module was wiped.
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Just keep in mind that the robot is the small cost of everything, software is the bigger part of it.
Also keep in mind that there are patents in place that might get you into trouble if it's a show that'll be of any significance.
Rather than going to Kuka, you may want to ask Andy Robot direct (the guy behind "RoboScreen" http://andyrobot.com/)
He did it first with ABB (Bon Jovi, Circle Tour) but I don't know why that partnership eroded and Kuka kind of stole the show in recent years.
External Content youtu.beContent embedded from external sources will not be displayed without your consent.Through the activation of external content, you agree that personal data may be transferred to third party platforms. We have provided more information on this in our privacy policy.BTW - How's that for Safety... Bon Jovi dancing on-top of the screens held by five IRB7600-500kg
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Which Robot Controller / Software Platform ?
Which Fronius Platform ? Not sure if they've released the TPSi based or if you're still using the older models with the separate/remote control panel ?
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If you're willing to share the backup through PM I can have a go at it.
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Which version of RS do you have ?
I've used RS 6.08 with RW 5.14 without issues.
Not sure how the newer 2019/2020 versions handle (if at all) older RW versions.
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To have a problem or not to have a problem, that is the question.
You're not really giving us much to go on besides having a problem... any type of description, screenshots, anything more would be helpful for us to help you.
Are you trying to use AWPP 5.15 w. RS 6.08 ? That won't work, they're matched so AWPP 6.x for RW6.x
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Yes..., it's not an option, just standard feature in tooldata... set RobHold to false for stationary (remote) TCP
Quote from ABB Manualrobot hold Data type: bool
Defines whether or not the robot is holding the tool:
• TRUE: The robot is holding the tool.
• FALSE: The robot is not holding the tool, that is, a stationary tool. -
Install Robotware 5.13.1037.01 or newer
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"Check program" should show you what instruction / data is missing (unless it's in a noview module)
I don't remember where it is (haven't touched an S4 in many years) but I think it's under edit or special.
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Don't know if it's a licensing issue for you or not because I can run 5.14.02 on my RS 6.08 installation.
Check out the last post in this thread...
https://forums.robotstudio.com/discussion/111…12-installation
If it's just a matter of not being available (which no version other than the matching RW/RS version would be on the fresh install) then you have to locate a download of RW 5.14 and install it manually.
Also worth looking at is this thread:
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Below is the basics... you need to define it as a robot of type "IRBP_A" and link the joints to that new robot.
See PM for complete MOC file for your system.
Arm type calibration/values will change once you redefine the baseframe for each axis.
Code
Display MoreMOC:CFG_1.0:6:0:: # MECHANICAL_UNIT: -name "STN1" -use_activation_relay "" -use_brake_relay ""\ -use_robot "STN1" -allow_move_of_user_frame -activate_at_start_up # ROBOT: -name "STN1" -use_robot_type "STN1" -use_joint_0 "M7DM1"\ -use_joint_1 "M8DM1" # ROBOT_TYPE: -name "STN1" -type "IRBP_A" -error_model "ERROR" -no_of_joints 2\ -par_id_type "irbp_a" # # ARM_TYPE: -name "M7DM1" -independent_move_off -attitude 1.5708\ -rot_axis_pose_pos_x 2.222 -rot_axis_pose_pos_z 1.1\ -rot_axis_pose_orient_u0 0.684337 -rot_axis_pose_orient_u1 -0.177995\ -rot_axis_pose_orient_u2 -0.684337 -rot_axis_pose_orient_u3 0.177995 -name "M8DM1" -length 0.36841 -offset_z 0.20931 -attitude 1.5708\ -rot_axis_pose_pos_x 1.5 -rot_axis_pose_pos_y -0.081259\ -rot_axis_pose_pos_z 0.954358 -rot_axis_pose_orient_u0 0.399648\ -rot_axis_pose_orient_u1 -0.103946 -rot_axis_pose_orient_u2 0.229255\ -rot_axis_pose_orient_u3 0.88143
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And which MTD's are you using ? 2000/600 ?