problems about change of baseframe

seekhust

Hello all.

I changed the position and orientation of Robot.

Then the target can't be reached any more(It can be reached before I changed the position and orientation of Robot).  It informs that : Warning: Robot base position differs from baseframe in VC's MOC.cfg. Motion endpoint will not match target.

But I have modified the Robot position,World Robot Position, and the Robot baseframe position,Then made them the same value.

I can jump to the target. But When I moved to the target or moved along with the path.It can't be reached.Why the target can't be reached any more?

Is there any solution?

Thanks! 

seekhust2007-4-4 10:38:4

PerSvensson

Hi
In a single robot configuration you usally don't change the baseframe of the robot.

If you wan't to move the robot out from the graphical world coordinate system in RS you should use position robot world (you need to do this before you start the controller).

The modify position of the grapichal model of the robot is normally just used when you later on want to use that position as a point for udating the baseframe of the robot.

My suggestion is
1. Make sure that the baseframe values are at zero (could also cold start the controller as long as you haven't stuff in there that you need)
2. Positon of the Robot is zero
3. Shut down the controller.
4. Position Robot World values are at zero.
5. Start your controller and check that everythings ok.

Hope this will help you getting back to where you started.

seekhust

PerSvensson

        Thank you !

But in another station I change the position of the Robot .I modify  the position of the Robot,Position Robot World and Robot baseframe  all to (0,-1750,355)(0,0,90 degree).The it works well.

Should all of the three value be the same?

What's the difference between them(Robot position,Position Robot World,Robot base frame)?

 

seekhust2007-4-4 14:33:5

PerSvensson

Hi
- Robot Position is the position of the graphical model
- Position Robot World is when you want to move the robot, for example put it on a stand, which in the real world means that you place the robot on the stand without having to modify the baseframe.
RobotStudio then knows how to recalculate the positions you have created in the graphical enviroment when syncing down to the virtual controller.

- BaseFrame is the base in the robot related to the robotworld. In most of the applications you don't change the baseframe. It's commonly used when you have robots working togheter and then you define the baseframe for each robot related to one robotworld. One example is Coordinated MultiMove in IRC5.

If you look in the robot manual on coordinate system in a robot you will see how they relate to each other and for RS it's just one more first of all robot coordinate systems.
RSWorld -> RobotWorld -> BaseFrame -> UserFrame -> ObjectFrame

So the normal case is (single robot)
- Don't change baseframe or robot position just use Position Robot World

I wounder if anyone could understand what I just wrote, kind of hard to explain in words

seekhust

Thanks,PerSvensson

But I think we should make the robot position and the position robot world the same.We simulate the real world ,But if we don't change the robot position,does it make any sense to change the position robot world?

I change all the 3 values in another station,it works.

Why?

PerSvensson

Hi

The reason that the position robot world is there is so it will be possible to transfer a RS program to the real world if you have moved the robot from the position origin position(import library position). Because in a graphical world you need to have some kind of reference coordinate system so it's possible to calculate where things are and how they should be treated when you move them around.

I don't know how your real cell looks like but changing the baseframe is something you normally don't do.

Making the position and position robot world the same would make it impossible to have a station where you actually want to modify the baseframe.

Changing all 3 to the same values (or at least the position and baseframe to the same, position robot world could be different) would be like not changing them at all.

seekhust

Changing the position is a must in my station.

To work well,What should I do?

Make the position and the position robot world the same,left the baseframe unchanged(zero)?

 

Thanks!

PerSvensson

Hi
Was a while since I worked in RS4 but what I remember  position robot world also moved the graphical model. So just use position robot world.
And yes leave baseframe unchanged.

seekhust

Thank you ,PerSvensson.

I changed the robot position at first.So I thought I should make the position robot world and the robot position the same value.

Then I changed the position robot world at first,and the robot position changed accordingly.It works.

So I didn't need to make the Robot position,Position Robot World ,Robot baseframe the same value.Just leave baseframe unchanged,only need to change the position robot world,the robot position will automatically changed.

Thanks again.