Target or station configuration problem?

wldng82ngnr_HU

Hello.

I am new to RobotStudio.

I am getting started owing to 2020 special offer.

We have an existing arc welding cell with an IRB2400L and an IRBP500K positioner.
The robot can perform coordinated movements with the positioner.

I could create the robot studio station of our cell from a backup on my PC.
All existing program works well (can be run in RS) what I have taught manually before the pandemic.
Now I work from home.

I have created new targets ant paths in the Robotstudio but is doesn't work well.
The target didn't store the position on the positioner (IRBP500K).
I have tried to overwrite the robtarget manually in rapid (-150 degrees), but it still not work, and if I modify a position, then the extax value changed to a wrong value (9E+09).

How can I make the target store the positioner angle?

That's how the postioner and the fixture should stay:

https://photos.app.goo.gl/y2zCtami5P2kdAnC9

I would like to move the positioner with the robot when I click into this target.
But the robot movement is depends on the positioner position, and I cannot affect the positioner angle with the target:

https://photos.app.goo.gl/d6L9VQJhJrxwPkmp8

Always this is the start position of the positioner when it turns to the robot in a new cycle:

https://photos.app.goo.gl/omDQZEBcYm712CK39

So I cannot do anything without turning the positioner to the right angle

 When I run manually taught programs (with coordinated movements) it works properly.
The positioner do, what it has to do...

Until I changed the robtarget manually in rapid I got this Error message:

Missing extax vaules

https://photos.app.goo.gl/66qcTcbzdhY96Adx6

After I overwrite it in Rapid,

https://photos.app.goo.gl/TrJQmoSJaP75P2C19

and it still does not work.
I got "Position outside reach" however the first movement should be very simple.

https://photos.app.goo.gl/edhqGWeDuGPgvZ3i7

Positioner should turn to -150 degrees, robot Axis 1 should turn to the working area (I have taught is several times manually).

https://photos.app.goo.gl/uqdhDYZgzwvCVu2o8

If I bypass this first target, the robot and the positioner starts to move, but not in the correct position i can see with "View robot at target"

The programmed position:

https://photos.app.goo.gl/HzFqjuVz75Zyh6Zm7

The actual movement:

https://photos.app.goo.gl/m6mKAq2KRvhfLoue6 

I totally confused about this, because the manually taught programs run properly.

So I think the cell is configured well.

Something not OK with my targets, or the method I have created them.

Thanks for any suggestion in advance.

wldng82ngnr_HU

One part of the problem solved.
I had to activate the mechanical units on the 'Path&Targets' tab (right click on controller icon).
This had solved the problem of the missing extax values.
Beginner mistake...

But something still not OK with the targets.

wldng82ngnr_HU said:

If I bypass this first target, the robot and the positioner starts to move, but not in the correct position i can see with "View robot at target"

The programmed position:

https://photos.app.goo.gl/HzFqjuVz75Zyh6Zm7

The actual movement:

https://photos.app.goo.gl/m6mKAq2KRvhfLoue6 

I totally confused about this, because the manually taught programs run properly.

This part of the question is still existing...

graemepaulin

If your real cell can perform the coordinated motion correctly, you created the virtual controller from backup, and the program from the real cell runs correctly in your RS station then it appears it is setup correctly.

Synchronise your program to RAPID if not done already.
Open the virtual FlexPendant, open the jogging window and set the tool and workobject to the correct values for the Robtarget, then open the program data window and find your RobotTarget in the list double tap to open it and observe the values.
Back in RobotStudio Jump to the Robtarget in the paths and target tree.
In the virtual FlexPendant tap edit and then modify position - do the values change?
Either in the Rapid editor in RS or the virtual FlexPendant step through activate positioner command and the move command with the Robtarget you updated  - does it work correctly now?

wldng82ngnr_HU

Thank you.
The tool and the work object have been set correctly.

I have synchronized on of my manually taught program into station.
And I can see difference between the tool (see the frame at the end of the welding gun), and the programmed robtarget (this points were taught manually).

On the other hand, when I run this program in RS, the robot "visually" guides the torch on the programmed path.
But the viewed robtargets are not in accordance what I see visually

Here you can see the differece between the TCP and the robtargets.

https://photos.app.goo.gl/yQMpEcyrEMFkWryZ9


Of course, when I click "view robot at target" then the robot will be shown at these tagets, with the shown TCP:

https://photos.app.goo.gl/ChUrT3n3koALLLvM9


This difference cause that my targets created in RS won't work when I run it...

wldng82ngnr_HU

The tooldata match with the tooldata stored in the backup (from I have created the station).

wldng82ngnr_HU

https://photos.app.goo.gl/So45jdrtvgvkHtp96

Here is the program running...

The robot moves the torch on the right path...
(the position of the positioner must be more precisely adjusted)

graemepaulin

So is it running correctly now - or is there still an issue?

wldng82ngnr_HU

graemepaulin said:

So is it running correctly now - or is there still an issue?

It is the manually taught routine.
The robot moves the welding gun on the right path.
But the shown programmed targets are in contradiction with this...
These targets are not shown the place of the TCP, what I have taught on the robot...