Motion

miemie

Sir

 

 Please help me and reply.I 've  confused about relativetool(Reltool). I wanna know where can I get details about it to read clearly.It would be better if you explain me.

 

I wanna to know urgently. Our company use IRB 6600,Type 2 and single cabinet to cut the timber like square, sawtooth, and slope or incline and so on.

mattdavis

Reltool is used for moving the tool relative to its current position (in tool coordinates).

I would suggest you probably want to use offset rather than reltool as reltool can be confusing when the tool changes orientation for cutting. But if you need to change the tool angle relative to the current tool you can't use offset and must use reltool.

miemie

Thank you so much

 But our company need to cut with only reltool.

I wanna read details about reltool.

Anyway, I feel happy because your reply

 

Stefan Westberg

Hi,

I created a .pdf of the RelTool chapter from the rapid reference available in robot studio.
Hopefully this is what you needed.

webwiz/2051/RelTool.zip

Best Regards
Stefan Westberg

miemie

 

 

Sir

 

I am very glad that you reply me again.

I want to cut the timber with 45 degrees .It is ok in program,actually it is wrong direction in moving robot. I feel very  confused.

 

 

 

 

How can I solve this problem?

 

 

 

Please help me!

 

 

 

I wanna know urgently.

 

 

 

mattdavis

remember that rel tool is working in the tool coordinate system. Which is defined about the tcp with orientation as specified in your tool definition.A?

If it is not moving as you expect put the robot into manual mode and job around in the tool coordinate system to see if you get what you expect. If you rotate the tool and then jog again you will see that the coordinate system rotates with the tool.

This is probably the easiest way the get your head around the tool coordinate system.

Also i still dont understand the requirement to use reltool, i do lots of cutting with robots and the only time i use reltool is for touch sensing searches.

mattdavis2008-12-16 05:14:58

miemie

Dear Sir,

 

I have encountered with big problem for me.I cannot move the robot by manually or automatically.It has error that is 50204. It means that MOTION SUPERVISION that describes motion supervision triggered for axis 3 on mechannical unit ROB-1.

 

 

 

I feel very unhappy because my robot doesn't move absolutely.

I can not test my program.

 

Please help me and reply as soon as possible.

 

 

I thank you so much for your reply

How to solve the problem?

Rookie

Hi,

 

This means that you have a collision on ax 3. See if you have selected in the jogging window the right tool, or that the hoses are stucked somewhere.

avboy

sometimes??Oeven there is no collision on any axes??Othere was still a ?_osupervision?__.

 

in this case,you must release the braker manully on the relative axes.

 

miemie

Dear sir,

I wanna know clearly make new home position and change home position in robot.

How to creat or define new home position and change home position?

My trainer told me that I 'll put zero position and then move my desire position.And then ABB-program editor- debug- pp to routine-teachpoint.I tried this way but I cannot get my home position.It caused collision again and again.

 

I 'm fresh learner about ABB robot and rapid programming.

What can I do for that?

Please explain me and write procedure step by step.

Please Help me and reply urgently!

It drives me crazy.

Regards,

Mie

Rookie

Hi Mie,

 

As follows: Move the robot to the position that you desire, and jump with the cursur to the instruction of the homeposition ( if this position already exists ), in the program screen. Then press modify position. Then this is your new homeposition. Otherwise, if no homeposition instruction exits,'add' a new move instruction in your program. Then this should be ok.

 

Hope this helps.

 

 

miemie

 Dear Sir,
Let me clarify the situation as it is now :
Having move the robot to a random position far from home position, we shift to automatic mode and start our program in which the first move is to go to home position. The robot does it without any problem/error. It is only then, when trying to execute the next command (moveL offs (Ppick,0,-100,300),v300,fine,tool0;), that the program stops and we receive the error message :
50143
Robot axes configuration
Actual configuration is not same as ordered and/ or movement of any robot axis is larger than 90 degrees, Robot ROB-1,axis rob1-5.
Actions
Use SingArea-Wrist,ConfL-off, modify position or insert intermediary point.

- I don't know how to use "SingArea-Wrist"
- - we already insert intermediary point and still have the same problem.

Please find another solution asap because we are not able to test our modules.
Thanks in advance for your help.

Rookie

Hi Mie,

 

Try to change the MoveL to a MoveJ and see what the robot does.

How far away is the home position from the pick position?

miemie

Dear Sir,

I can solve problem by using this way. Thank you for your help.I want to see some sample programs related with timber cutting. I always face various kinds of problems when I use moving with robot after finished program writing.

Please help and guide me because I'm begineer learning about robot.

Please reply me as soon as possible.

 

Best Regards,

Mie

miemie

Dear Sir,

 Now I can use simulation in robotstudio 5.11. Thanks for your help.

The another thing is I want to know what kinds of sensor is good for wood cutting with robot.

Please reply me and give the name of sensor. I want to get some help from somebody.

Best Regards,

Mie

robotic@pacificforest.com.sg

Rookie

Hi Mie,

 

What do you want to detect with the sensor? Please be a bit more specific, so that i can answer you correctly.

 

 

miemie

Dear Sir,
Now, our company is try to set up conveyor and sensors.
We have only IRB 6640 robot, that's why we have to get successful condition to cut timber.

I wanna know which sensor is suitable for cutting timber.
When the timber ( digital input) come to cut and sense and clamp the timber, wait the time,
and then move forward and so on..........
At first, we want to use simple because we are not perfect  and don't know very well for that.

Please help and reply me, I want to know urgently.
Anyway, I really appreciate you so much.
I feel very happy when I see your reply, I get a lots of knowledge from this forum.

Best Regards,
Mie

Rookie

Hi Mie,

Any sensor with a reflector should do the job if i understand your project right. I would recommend to look at the site of carlo gavazzi. http://www.productsonline.info/POL/index.jsp?lang=EN

I hope this helps.

miemie

Dear Sir,

Thank you for your help.We are thinking to use 1. SHARP GP 2D12, GP 2D120 2. CMUCAM3

and 3. Maxsonar. Which one is suitable for us among them?

If not ok, Please give me the names of sensor.

Please guide me which sensor do I use.

How should I do?

 

Thanks in advance for your help.

Best Regards,

Mie

Rookie

Hi Mie,

 

I guess that the sensor you have to use should measure the distance between the tool and the timber? Please explain what exact the function is of the sensor.

miemie

Dear Sir,

Our company want to use sensor for pick the timber and place that is arrive desire place.

At first we will use simple function. Later,we will update it when we know very well by  using robot .

Actually I want to know the name of sensor that is suitable for robot.

Please reply me urgently if possible.

I need your help.

 

Thanks and Best Regards,

Mie

 

Rookie

Hi Mie,

 

Sorry for my late reply. I was on a businness trip.

 It is hard for me to exactly point out what kind of sensor you need. I Hope you have found one jet

miemie

Dear Sir,

I really appreciate you very much.

I want to know is how to import and attach to robot after drawing the tool in modeling.

Please teach, guide and reply me how to do it.

Thanks for your help. I feel very pleased when I read your reply.

Thanks Rookie

 

Best and Warm Regards,

Mie Mie

Hugo Mendes

[QUOTE=miemie]

 Dear Sir,
Let me clarify the situation as it is now :
Having move the robot to a random position far from home position, we shift to automatic mode and start our program in which the first move is to go to home position. The robot does it without any problem/error. It is only then, when trying to execute the next command (moveL offs (Ppick,0,-100,300),v300,fine,tool0;), that the program stops and we receive the error message :
50143
Robot axes configuration
Actual configuration is not same as ordered and/ or movement of any robot axis is larger than 90 degrees, Robot ROB-1,axis rob1-5.
Actions
Use SingArea-Wrist,ConfL-off, modify position or insert intermediary point.

- I don't know how to use "SingArea-Wrist"
- - we already insert intermediary point and still have the same problem.

Please find another solution asap because we are not able to test our modules.
Thanks in advance for your help.
[/QUOTE]

Got the same problem when using MoveL and MoveC. Changing to MoveJ remove the problem, but I want to use MoveL and MoveC. How can i do it?

dhyan

Hello Hugo

A? A? SingAreaWrist is used to define how the robot is to move in proximity of singular points (as example : when axes 4 and axes 6 are parallel / axis 5 at 0 degrees).

A? A? In practically (I have done before and success), use it on your Rapid program like this :

........

StartMove;

SingAreaWrist;

ConfLOff;

MoveL...........(robot move to singular position)

...........

A? A? This program means The robot moves to the programmed position and orientation, but to the closest possible axis configuration, which can be different from the programmed.

A? A? If you makes "ConfLOn", the robot moves to the programmed position, orientation, and wrist axis configuration. If this is not possible, program execution stops (as your problem)

A? A? I hope this may help.

BR

Dhyan Wicaksono

Sepuluh Nopember Institute of Technology