Posts by Enio

to be sure ,check the deadman switches inside the teach pedant

Jarm i think i am able to do this procedure, so find how mutch the wobjSTN1 is shifted in X,Y,Z, but what about the quaterinions values ?

I created the cell in robotstudio from Backup,to find a way to center the wobjSTN1 of the real cell ,so i have the real cell woth wobjSTN1 off center and the point are ok, so need to center it in robotstudio and bring the point ok again

So i have the real station with the wobjSTN1 not in center of the rotating plate ,I think in Robotstudio it will appare in center of the plate but in the real station it is not

I realy thank you for the help Jarm,i need to tell you that all my points are not in workobject 0 , thay are in wobjSTN1 and wobjSTN2

Yes i have all the points taught in a wirkobject not in the center of the plate and now i need to bring the workobject in the center and and move the points

OK Jarm here is my problem,the workobject of the rotating plate of the external axes (IRBP D positioner ) is shifted from the center of the rotating plate so i need to calculate again this workobject .The program is using this workobject without define a user frame(wobjSTN1,WobjSTN2).So after calculating the workobject the program will be shifted. I have try duplicate the workobject than after calculating the first one .I use the Adjust Robtargets function to bring back the program acording to the first worcobject already calculated,somehow it does not work.

Is there any way to deal with this situation?

We have a premium license on RobotStudio but we just start using it

Hello guys , is there a way in robotstudio do convert automatically all the robotargets related to a user workobject in robotarget related to Wobj0 , practically in absolute position

Thanks robiman

yes robiman , in workobject mode the robot turns with the table sincronized so it has been taught ok

lemster i am not sure what you mean, so the STN1 is define in Calibration menu under Reference system still Object frame and User frame values are 0.

lemster ,actually is working,but in declaration i can not see the actual values in mm of the plate refer to the base frame

PERS wobjdata wobjSTN1 := [FALSE,FALSE,"STN1",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
PERS wobjdata wobjSTN2 := [FALSE,FALSE,"STN2",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

hello robiman, when we look to this PERS wobjSTN1 we do not see translation values from wobj0,

in s4c we are abble to see actually the values in mm where the positioner plate is refer to wbj0

hello guys, We have a welder with IRC5 controller equipped with IRBP type D positioner .

Can someone help us to see the WobjSTN1 workobject values refer to wobj0?

Thanks

have you try to cancel all the wavedata and create new ones?

i have the robotarget target with * so not define

hello DS 186, my robotarget are not defined, is there any way to use this method anyway?

hello Lemster , can you show me the operation in this pice of code please , i am not sure how it is done.

MoveJ p530, v1000, z50, tRobactaDriveCMT\WObj:=WobjSTN1;

MoveJ p520, v1000, z50, tRobactaDriveCMT\WObj:=WobjSTN1;

MoveJ p510, v1000, z50, tRobactaDriveCMT\WObj:=WobjSTN1;

ArcLStart p500, v1000, seam5, weld5\Weave:=weave5, fine, tRobactaDriveCMT\WObj:=WobjSTN1;

i need a way to convert from robot target to robot joint position and than change to robotarget with the new tool again

lemster, when I change the tool in the move instruction the tcp goes out of range,I use to go to a robot target than change the tool activate the tool and than modpos, but i have 700 line procedure ,it will take forever this way