Reltool

Petri

Hi

 

I am having similar proplems.

I use irb4400_45 robots for mecanical cut plastic and irb2400 robots with waterjet cutting.

With instruction Accset I get litle improvment to the path.

Also I am having proplems with round holes they are more like a lemon shape. I know that the tune the servos and Friction compensation will help on that but on my knowledge it is have to do every hole directions when TCP direction is change and it is many times on my programs.

Could that CutWare option do that automatic? Where I can get more info abaut it don`t find anything on the ABB site.

 

BR

Petri

 

 

stud.bs

Hi Peri,
Have you complained to ABB about it. Did you get any solution from them. I have been told that the complaint has been forwarded to the ABB RND division in sweden. Please do let me know if you have had any response from ABB for your problem.

Marcel

Hi

 

Is there no workaround like moving to the path from the inner side with a MoveC?

 

I had that problems already with S3 systems, but the overshoot was 2 mm instead of 0.5 mm.

 

It seems to be a general problem, starting a movement and starting controlling the movement to be straight.

 

Best regards

 

Marcel

Petri

Yes, I did get that solution tune the servos and Friction compensation from them but I think that it`s too difficult to use in daily programming. I`m just live on with the problem and I don`t have that option tune servos on every robot. This is why I`m intrested on that CutWare option.

Robot_killer

Hi

 

The documentation of CutWare came from ABB reseller

stud.bs

Hi Peri,
DO let me know if the Cutware option works fo ryou. Then Maybe I can try it as well. I completed the whole program and Iam just waiting on ABB to come back with a solution.

Its so frustrating.

stud.bs

Hi ,
COuld some one send me exact inofrmation about the defining TCP with 4 point method.
If you have pictures that would be great

Robot_killer

hi

 

See help in flexpedant define tool frame

and SToolTCPCaib in rapid

 

It's easy to find the position X,Y,Z

It's more difficult for allign axe

stud.bs

Hi Everyone,
ABB had sent a system file to tune the servos. They have set the values in it for IRB 2400 robot. I found that this file really helped a lot. The overshooting has reduced a lot. I am posting the system file sent by them and instructions on how to use them. PLEASE BACKUP UR SYSTEM BEFORE USING THIS FILE AND THIS IS SPECIFICALLY FOR IRB 2400.
webwiz/2901/Tune_Drives.zip
1. LOAD THE MODULE IN THE CONTROLLER (BY CALLING LOAD NEW MODULE)
2. PROCALL THE ROUTINE TS(TUNE SERVOS) EVERYTIME U WANT TO RUN A SPECIFIC ROUTINE.
3. I HAVE CALLED THE FILE AT THE BEGINING OF MAIN THUS IT WILL BE CALLED EVERY TIME I RUN THE PROGRAM.
 
 

stud.bs

LOAD THE MODULE IN UR MAIN ROBOT TASK. BY USING LOAD MODULE. 

stud.bs

HI everyone,
I have found a way to solve the overshoot problem , which I had with machining operation.

1.define the tool by using tcp z and x

1.a) Define every plane , you are working with as a new work object. That way you are reducing the overshooting which occurs as the end tool is moving away from base co ordinate of the robot.

1b)The tuning the servo code which i have posted previously within this post should be loaded.
 
2. when moving to the corners I reduced the speed to v5 and also while moving away from the corner as well i have reduced the speed to v5 that helped as well. eg: in case of a square or rectangle, when machining a square using a drill tool .. the robot used to show an overshoot while it moved into the corner (shown in pictures in the start of this post) and when it used to move away from the corner.

3. a combination reltool and offset does help as
e.g. moveL offs(reltool(corner,0,0,1),x,y,z),v5,z5,machineTool; etc

4. Doing a smaller precut (reducing size by 0.5mm on all sides) and then doing a final finishing cut to the actual size , gave a better finish.