Robot Configurations

robotben

Hey, I am trying to move a welding tool to several targets along a workpiece but struggling. I can jog the robot to the target easy enough, (and have created the first target as the usual "home" position) but when I pick the targets using the mouse and try auto configuration, it doesnt work, the screen looks like below, any help would be greatly appreciated! Cheers, Ben

robotben2009-07-27 16:06:47

kardang

Hi!.

I think its like this : There is no configuration in which the robot can reach the point.As its obvious that the robot can reach this point, this could be due to a number of things:

You should check the rotation of the point. Its good to keep in mind that a target is actually a point in 6 degrees of freedom, so your robot does just reach for the point, but it wants to reach the point with the axes of the tool facing the same way as the target axes. Try rotating your axes 180 degrees.

Other things could also cause this, but this is usually the reason i Think. (I am quite a newbie myself).

Best regards

Jens

robotben

Unfortunately I don't think thats the case. I know the robot can reach the point because I can jog it to that position using the Flexpendant or otherwise. Any other ideas?

kardang

Have you tried rotating target 180 degrees?

robotben

Yes, I've rotated it through 180 amongst other angles. I'm totally baffled! I'v even made a new station with another 6640 and a random box geometry where I have managed to write a program and the robot configurations work fine...

Any other possibilities??!

kardang

Dont know mate. Check the obvous that you might have forgotten. Check if the workobject of the target is actually what you want it to be.

robotben

This just occured to me, could I have the wrong drive unit selected for the system?? What drive should i have selected for a 6640 205-275??

kardang

I remember having problems like this, and the solution was usually to delete the points and create them again. Try changing the order of the points temporarily. It uses the configuration of the first point to autoconfigure the remaining points in the path.A?

kardang

Maybe its nothing, but youre very close to singularity (can see it from the joint angles in the picture). Try jogging 4,5 and 6 axis a little away from zero.

robotben

Thanks Jens, I seem to have solved the problem. I have created a totally new station, system and simulation and all seems to be working fine now. Not sure what the problem was but maybe I hadn't selected the proper drive units for the robots I'm using...

Again thanks!

Ben