Align Y axis of robot with linear track

AlexLu

In our first attempt, we set the x-axis of the robot align with the linear track axis. The Y-axis points to the part, a boat hull. In this case, the first joint works in the range of 0~180 degrees. One disadvantage here is that, we could move the first joint angle from 179 to -179 degrees in a shorter way. In case anything unexpected happened, we are not easy to move the robot back from the boat to a safe area.

 

We want to rotate the robot 90 degrees, so that the negative Y axis aligns with the positive track axis. Then the first joint works in the range of -90~90 degrees. It is easy to change the first joint from 90 to more than that, e.g. 120 degrees.

 

We try to create a station with the robot's Y-axis aligns with the linear track, but got errors. Please help us fix it.

AlexLu

Approach 1:<?:namespace prefix = o ns = "urn:schemas-microsoft-com:office:office" />

 

(1) Create a New Station

(2) No System

 

Step 3-9 Follow menu 2.6.4.2 Creating a system with support for one robot and one track external axis"

(3) "Controller"-->"System Builder"-->"Create New"

(4) Select virtual key and drive key

(5) Select "hardware"-->"709-x DeviceNet"

(6) "I/OControl"-->"Logical Connection"

(7) Choose "6650-125/3.2 Type B" Robot

(8) "Add axes IRB/drive module 6600"-->"770-4Drive W in pos Y2"

(9) Click "Finish"

 

Steps 10-19 follows menu 2.11 Setting up a track external axis

 

(10) Add the system just created

(11) "Controller"--"System Configuration"--"Add"

(12) Select "TRACK_15_9.cfg"

(13) Restart controller

(14) Got a message "The library for the type "TRACK" could not be found. You must manually search for the library"

(15) Select "irbt6004_0_d_16__01.rslib"

(16) Attach the robot to the track

(17) Got a "Select flange" dialog. Two options: "T6004_0" and "T6004_90"

(18) Select "T6004_90" and then restart controller

(19) The robot sits on the track with the x axis aligns with the track axis, instead of the Y axis of the robot since the "T6004_90" is selected.

 

Actually, "T6004_0" and "T6004_90" lead to same result.

 

 

 

(20) Set the linear track as UCS

 

"The baseframe definition is not the same as in the Vitual Controller. Do

AlexLu

Approach 2: Create from layout<?:namespace prefix = o ns = "urn:schemas-microsoft-com:office:office" />

(1) Import library ??IRB6650_125_320__01.rslib??

(2) Import library ??irbt6004_0_d_16__01.rslib??

(3) Attach the robot to the track

(4) Got a "Select flange" dialog. Two options: "T6004_0" and "T6004_90".

(5) Select "T6004_90". The robot sits on the track with the negative Y axis aligns with the track axis.

(6) ??Controller??"???Create System From Layout??.

(7) Click ??Finish?? to Start controller

(8) Warning: ??The mechanism model IRB6650_125_320_01 is unknown and the library model must be manually mapped. Press ??Ok?? to open the system configuration dialog to perform the mapping. ??Cancel?? will remove the system??

(9) Click ??OK??

(10 Fatal Error: ??An unhandled exception has occurred. Please report this error by using the RobotStudio System info Tool. The application is now in an undefined state. We recommend that you exit the application. Click Yes to exit the application, click No to try to use the puroduct anyway.??

 

When I used RS 5.08 to create system from layout, I did not get the error in (10) and created system successfully. (http://forums.robotstudio.com/forum_posts.asp? TID=1366&PN=3)

 

While in RS 5.09, I got the above error.

 

AlexLu

Please help us with the setup in RobotStudio.