WorkObjects and synchronisation.

kardang

Hi! I have defined a new workObject on the robot and it works fine.A?

I have copy pasted the workobject definition into the offline part of RobotStudio, and applied it to the VIRTUAL controller. The Virtual controller runs fine, and in the graphical simulation it actually uses the workobject.

When I press synchronise to VC, in order to use and define workobject that the VC is obviously using the HOME tab, I expect to find it under Paths and Targets. But it isn't and when I synchronise it doesnt show up either. It seems to synchronise a whole lot of other stuff, but not the workobjects, and not the tool objects either.A?

What am I missing? Is this a bug?

Best regards

Jens T

mattdavis

It only synchronises things that are actually used in your rapid code as far as im aware, add a movej command using that tool and workobject and try and resync.

kardang

Cheers. It seems to work if the instruction is put in the Main procedure of the project. Other modules and procedures, even when they from the main procedure did not in my case synchronise from the VC to the station.

miemie

Hi Kardang
How you define Wobj?Do you define in robotstudio or real robot?  Is it the same with real robot? For me, not the same height. I don't know why, that's why I want to know your way.

Can you tell me about it? What I wanna know is which tool and workobject do u use for new object while you defining the X1,X2 and Y.
 
Thanks a lot
Mie Mie

kardang

Hi.

When I define the workobject on the real robot I use the tools on the pendant. This way I can get a workObject

In robotstudio online I get a definition of this workObject. If you later construct a workObject in robotstudio offline you need these to hold the same position. The easiest way to do this is to replace the definition of the workObject with the one in the robot.

Create a new workobject in robotstudio. Now it is only int the graphical world: Synchronise to VC to put all the info in the RAPID of the virtual controller. Look for a line that lools like this

A?TASK PERS wobjdata Wobj_Jigg:=[FALSE,TRUE,"",[[631.986,-901.872,6.03127],[0.378421,0.00255283,-0.00618016,-0.925609]],[[0,0,0],[1,0,0,0]]];

Now if you find the same line in robotstudio online, and copy this line, and then synchronise to station, your graphical work-object should update with exactly the same position as your robot, with respect to the the base of the robot.

If it does not, you need to USE the wobj, because it only synchronises things that are used. Put a moveL command into the main procedure with reference to this work object and the synchronise.

This took me ages to figure out, so I hope its useful to other people.

PS : Its worth reading up on how all the synchronise funciton works, because it makes no sense intuitively.

miemie

Dear Sir,
Thank you so much for your explain. I have a bit confused until now.
After I defined the workobject(teach with twobj) I put it in the robotstudio in create workobject. For our production,  I use another tools (tcirsaw and tdrill for different cutting) in my program same module and procedure.
I write program in robotstudio and run in real robot , what I found is not the same position( I mean height ). Our company business is timber which cut with ABB robot. I'm beginner and  learning about rapid program.
I don't know how's come.
Can you help me how to do for that?
 
Thanks and Best Regards,
Mie Mie

kardang

If I understand, you have created two workobjects, one on the robot and one in robotstudio. They are not defined the same way. In robotstudio online you access the robot, and the definition of the workobject there should be the same as in robotstudio.

Check for lines looking like thisA?

A?TASK PERS wobjdata Wobj_Jigg:=[FALSE,TRUE,"",[[631.986,-901.872,6.03127],[0.378421,0.00255283,-0.00618016,-0.925609]],[[0,0,0],[1,0,0,0]]];

They should be exactly the same in both robotstudio offline and robotstudio online.

Robotstudio is very confusing. You should spend some time experimenting with the different syncrhonisation options, otherwise you will never be able to use the system efficiently. Please note that there are three, (not two) levels that needs to syncrhonise. Its the graphical part (which you seem to call Robostudio) and it is the virtual controller (the rapid code and the virtual flex pendant) and real life (robotstudio online). The robot behaves on screen like the virtual controller tells it, but objects (such as tools) in the graphical 3D world may be different in "Station" than in the rapid code. If the code in online and offline are exactly the same, you still may see different behaviour because the graphical window is not updated with the correct positions stored in RAPID code.

mattdavis

Agreed with above,

I have a system that almost guarentees the graphics in robotstudio are not correct (gantry mounted robot with 3 external axis). This will show workobjects and targets all over the place, but running from the virtual flexpendant is correct and taking the program to the real robot does work.