Robot Custom with IRC5

fulvioromano

Dear all,

I have a custom 6-axes robot model, and I would control it with a standard IRC5 controller, I mean, in RobotStudio Virtual World.

 

Is it possible to set robot parameters (e.g. D-H) and then use the RAPID language? I'm interested only in kinematical behaviour.

 

Thankyou

vashistengineer

Hello,

 

Well I don't have much knowledge about the *.cfg files which are used for the robots or mechanisms. But I think if you've made a robot of your choice then you can use the CFG files from any similar model present in the library. This will help you control the same with IRC5.

 

//Regards

Saurabh Vashist

Anders S

If your custom made robot not are identical (same arm lengths etc.) with any of the ABB IRC5 robots, you will not be able to run the robot correct. It will not mot move linear and will not go to the teached positions etc. And it will not help to change the robot parameters.

The only move instruction that will work correct is "MoveAbsJ".

fulvioromano

In first time it is enough. But I'm unable to add a controller (I mean, without standard robots) and connect it with my manipulator... can someone help me?

Winos

Hey,
The thing you want to do is really tricky I think. In my opinion it is possible to run "self made robots in RS".
I think the solution is to create a standallone controller. You can define 6-axis non ABB Manipulatior there . Details you can find inside the documation.
The second tricky thing is do define a right kinematic modell inside RS. Therefore I thing you need a lot of knowledge how the modeller works.

But on youtube there is a video with a motoman robot moved inside RS

"http://www.youtube.com/watch?v=HLjQmur07ls"

good luck

http://www.youtube.com/watch?v=HLjQmur07ls

fulvioromano

Ok Winos, I now know that this is possible!

I don't know how, but this is a good start.

 

I'm not interested in dinamic model of the manipulator, but for kinematics model, I think is enough to know the Denavit-Hartenberg parameters, isn't it?

 

ABB sell IRC5 also as stand alone controller, so I think that is possibile to control a real custom robot with a real IRC5...I guess this is possible also in a virtual world.

 

If I don't use ABB robots, but I have / prefer RobotStudio, a very useful feature can be an off-line programming, also if in other language.

Winos

Hey,

Its a pity if you donA't use our products!

In any cases itA's not possible for you to create a dynamic model. We are just talking about kinematic models.

It is right that abb sells stand allone controller. All the RW options you get with teh RW download afterwards you have to install the contoller separately.

If you have done this you can create a system with the stnad allone contoller and you can choose the kinematic modell you would like to use. GantryA's and so on.

 

This is the first Part you have to solve :

 

The second one is to create a mechanic model of the robot inside RS including Axis limits,....

 

This is the part I donA't have experiences in.

 

the third part is to import the controller in a new station. RS will ask you for the modell and afterwards you should have the working Robot inside the System.

 

What brand you want to simulation inside RS?

 

 

 

 

 

RussD

You might also investigate Microsoft Robotics Studio if you have a custom, i.e. non-commercial robot.

fulvioromano

Hi Winos,

It's not a pity for us, but for our client!

By the way, we work in steel plants, and we use ABB and KUKA robots depending on the situation because these two brands have different peculiarity.

 

For preliminar geometric study, we use RobotStudio, and this is a very good product, so we prefer to use this software in all cases.

In this way, if I program kuka robots in RAPID language, in a second time is not very difficult to make a software porting in kuka language, isn't it?

 

So, I download kuka model and in five minutes I can create a "mechanism-robot" with kinematics parameters and axis limit.

 

Now, can you help me to understand how insert a controller?

 

Thankyou a lot

fulvioromano

I imported an IRB robot and then I replaced the library...it seems working...but not very well.

Now I can use a linear jogging, so I think that this procedure works well, nevertheless, the jogging handle appear in a strange place and seems that the axes are permuted...have you some suggestions?

 

Winos

Hey,

First, I have checked the stand allone controller version, and I was wrong, there isnA't a kinematic modell for a 6-axis robot, like you need. There are just modells up to 5 rotatory axis + 1 linear axis.

The way youA've tried should be the right one, but IA'm not sure, about the adoption of the axis (and the position of the axis)  inside the VC.

If you try the same thing with a self made positioner, you can use a standard ABB positioner, (like IRBPA), adapt the modell, create a kinematic modell, change the modell in the system (like youA've done) and than you have the possibiliy to load the position of the axis inside the controller. After this the contoller uses the right distances for the coordinated movement.

But in case of a robot I donA't have found this possibility, so I think the calculation of the linear movement, will still done with the distances of the original Robot.

 

Why the TCP is somewher, (I really donA't know)

Where you have set your calibration ?

Have you reseted all the local origin points of the 3D parts?

 

Wilfried

 

 

fulvioromano

Maybe I understand now what is my problem...with the support of ABB-Italy, I red the Stand Alone Controller manual, and in it is mentioned the pool named "SAC_5.XX.XXXX"... I haven't this folder!

Can someone help me? Is possible to post this pool? Otherwise I can't choose the kinematic model either!
 


Thankyou

Winos

Hey,

All the necessarry data will delivered together with the RobotWare. Inside the folder "Additional Options" you will find the setup for the stand allone controller. The SAC will not installed automatically by the installation of the RobotWare

 

W.

Winos

Hey,

Can you uplaod a P&G ?

 

W.

fulvioromano

Winos, you are really well-prepared!

I'm installing the SAC, then I will try to work. I think you are right and maybe doesn't exist a kinematic model like antropomorphous robot...

If I create something good, I will P&G to you.

 

Thank you for now.

fulvioromano

In the SAC manual is shown this:

 

And this:

 

 

It seems ok, but in the ControllerMotion doesn't exist the ARM_TYPE...have you something to suggest me?

 

Thankyou.

Winos

Hey,

You have to modify the moc.sys file:

Create a backup

Modify the moc.sys inside the backup

Restore the backup:

 

Inside the file you just have to add the values you need:

Some of the parameters are not shown inside the file. In this case the RC takes default values.

 

example out of the moc. file:

#
ARM:
 -name "rob21_1" -use_arm_type "ROB21_1" -use_acc_data "rob21_1"
-use_arm_calib "rob21_1" -upper_joint_bound 17.4 -lower_joint_bound -0.05

fulvioromano

I'm sorry...but I'm near to cry!

 

I attach this two file:

SAC_MOC.cfg come from a backup of an XYZ gantry made with a SAC

IRB2400_MOC.cfg come from a backup of an IRB2400 made withoud SAC

 

I can't find a place to add or substitute the following DH information:

 

Theta
Alpha
d

a

 

that's finally my only wish...can you please help me???

fulvioromano

ooops...I forgot the attachment...

webwiz/2202/MOCs.zip

wshine99

have you solved your problem?

I have a same problem too,.

and I don't know how use the "stand alone control" , in the fold just a cmd file. 

fulvioromano

No, I not solved my problem

fulvioromano

nobody can help us yet?

axiome

hello,
i want to make the same
use a different robot in robotstudio with an abb controller and have trajectories in abb standard

i have robotstudio 5.13 and i have installed the option stand alone controller
in robotstudio, i can build a robot mechanism and move it axis by axis
but i can't find the help for the stand alone controller option

if anyone can help