Wobj with custom mechanizm and external axis wizard

TombieTombie Poland
Hello,

I have problem with configuration of robots system with my own created external axis from collada file. I've created mechanism, saved it as a library and imported for my station, move and attached robot to the skid.
 After I created robot system from layout, but it was impossible to connect mechanism in this step. 

Added all neccessary options in Installation Menager.

Restart my system and now I have first strange information:

Everytime, when I restart VC RobStudio asks me about detaching robot from track. Why is it asking everytime about it? I want it to be attached - so I press 'No'. Everything is fine at this step so I need to add track as external axis to robot so I use External Axis Wizard.




And now It looks like I want to. I have joint jog active, I my mechanism, as an external axis activated in VC, I can move robot from jog in teachpendant level. Robot wobjt is placed in value 0 of the track and this is what I would like to have. 


But now, when I restart my controler one more time, it asks my again about detaching Robot with current holder. When I press 'No' this time, I have information 
and from this step wobj is coordinated with the robot base, but I don't want it. Strange is also, that on graphical View of station I can see wobj0 some else from this time, then it real is located. (on the screen USC is set for wobj0 frame which is white shaded on the buttom of the screen)

How to create the system where the wobj0 is located always same place in 0 of track, no-metter what is a possition of the robot on track?

Why every restart programm asks me for deattach robot?

I remember about one year ago, I was creating systems like that in the same way and still have backups for that. Have no idea, why now I cannot reach this :disappointed:

Thank you in advance for help.

Comments

  • Maxim RiabichevMaxim Riabichev Sweden admin
    Hello there!

    Take a look at this post: https://forums.robotstudio.com/discussion/12170/how-to-create-a-mechanism-for-the-standalone-controller-and-xyz-gantry-in-robotstudio

    I know it's not a 100% match to your use case, but I cover some mechanism creation pre-requisites in the video which might prove useful for you still.

    If it doesn't help, could you upload a P&G of your station so I can have a go at it?

    Maxim Riabichev
    PC Software Support Engineer
  • TombieTombie Poland
    Hey,
    Thanks for reply, but still I cannot reach situation, that wobj stays in one place. Here in attachment you can find P&G in zip file. In station there is mechanism library and robot. I've created simple controller and programm asked me about detaching. 

    How to attach robot right now and make wobj of controller with constant position? 
    Thank for interesting!
  • Maxim RiabichevMaxim Riabichev Sweden admin
    Okay, I'll take a look and get back to you.

    Hopefully by the end of this week.

    (I am willing to do this because it seems like you spent a good amount of time creating a through post describing your issue.)

    Maxim Riabichev
    PC Software Support Engineer
  • Maxim RiabichevMaxim Riabichev Sweden admin
    Hello there.

    I've attached a station with a track that I made based on your mechanism. Your mechanism had a couple of issues.

    Can you try this station and let me know if it has solved all the issues you had?
    If it has then I'll make a video covering a general workflow that I use to create custom tracks.

    Just change the .txt to .rspag and open it in RobotStudio.

    Maxim Riabichev
    PC Software Support Engineer
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