Posts by xerim

Hello,

Are there any ABB manuals that document the process of replacing a spindle?

Thanks

Seconds

The manual is your friend

Quote from Lemster68

There is no need for that. There is a system parameter, "Brake On Time" that will allow you to set when the brakes should engage. The servos remain on and ready, but the hour meter should stop as the brakes are on.

Good call, I was unaware of this system parameter

Connect the system input for motors on with a digital signal, then create a wait condition that turns the motors off once a certain amount of time has elapsed. It would be wise to ensure the program execution has stopped prior to executing the signal to turn the motors off.

SYSSIG_IN:
      -Signal "externalsignalname" -Action "MotorOff"

I have not heard of the COREJOBS directory before, but if you wish you restore your controller back to a previous state you must first create a backup using the FlexPendant. ABB Icon>Backup and Restore

Sounds like you have duplicate tooldata of the same tool. Go to Program Data>Tool Data and delete the bad one and you should be good to go.

This manual should be helpful to you

Here's a paper that describes a robotic brazing system. I often search for scientific articles on Google Scholar to research new systems/different robot applications etc

Screenshot from the book "Introduction to Robotics Mechanics and Control 3rd Edition" by John J. Craig

Quote from sauvage yann

Merci mais l'aurais tu en francais ?

Ici

Here is a more visual description of the problem. The tools drawn in green perform as expected, while the tools drawn in red represent orientations that give undesirable results (too much pressure). I have tried creating my own zonedata that allows for smoother reorientation as well as my own speeddata to control the reorientation speed but nothing seems to work, by the time the TCP reaches the first tool drawn in red the pressure always extends vastly beyond what I have programmed it for.

Hello,



Has anyone ever had any success with large reorientations of the TCP to follow a small radius with force control enabled? I've been trying to figure this out for what seems like ages now. I've been experimenting with custom zonedata and speeddata to control the size of the zone necessary for the next reorientation to begin but with no luck. It seems that at the apex of the curve the tool always pushes far too hard, decreasing the force doesn't help this. I've tried moving the target further away yet it consistently drives the tool further than I would like when trying to navigate to the next target. My theory is that in the process of reorienting to achieve the next position, the force control is still searching for the direction in which to apply force, causing it to apply an unnecessary amount of force when making many reorientations in a short period of time (FC_REFFRAME is set to tool workspace here). The way I have it programmed now is with many, many points in order to increase the smoothness of the motion. I have found that the problem gets worse with less points. Can anyone shed some light on this problem? What am I missing here?

Here's one, why not request a quote?

This might help

Have you tried calibrating it with FCCalib while the grinder was running?

Quote from mkrobot

Hi, I run a robot for a small studio in Brooklyn, NY and am looking for local support to come help setup and troubleshoot a few errors.

Is anyone here local to the city or surrounding area that would be willing to come help us? It'd be a paid gig.

Thanks

Hi mkrobot,

I live in Brooklyn and work with programming robots, send me a PM and I will give you my email.