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Robot Base Frame Wrong

mmiddleton73
mmiddleton73 ✭
in RobotStudio

I'm trying to build a robot and external axis system on omnicore using an IRB 2600 and a custom-built external axis gantry. 

The external axis wizard does not seem to work, I'm guessing that is because the external axis wizard was made for IRC5, not omnicore.

So instead, I followed the instructions from https://search.abb.com/library/Download.aspx?DocumentID=3HAC082287-001 telling me to load a template file from the robotware additional axis (M7_DM1.cfg) into the virtual controller parameters. Once I restart the VC, I configure the new axis to be my gantry, attach the robot to the gantry, reposition the robot, and say yes to the base frame being updated by the gantry. 

From then on, every time I restart the controller, a message pops up telling me that the base frame definition is not the same as in the virtual controller. But when I go to motion configuration the base frame of the virtual controller is set the same as in the station. When I try to create points in space, the station matches the points, but when I try to drive the robot along the path, the robot will drive to the wrong spot. 

I have checked the MOC.cfg file and it shows that the robot base frame has been update to what the station is.

Does anyone know how to solve this? I want coordinated motion between the robot and external axis. 
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Answers

  • matti
    matti ✭
    Hallo, this behaviour is because your model and your VC configuration are not the same. Especially when mounting the robot to a gantry (with 2 or more external axis), the whole cinematic chain from base of the gantry to base of the robot must be put with the right frame orientations into the MOC.
    There are stiff rules, how to give that orientation (J. Craig).
    See the manual (exernal axis configuration) for that.
    Honestly, I ended up several time by trying out variations to get the right coordination.

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