RS station VS REAL station

kentZibrandtsen

Hi

I am trying to reposition my RS station to be more accurate with the real station in the production.

I have movet my positioner 8 mm in the y-direction.Then into offlinetab an use sys.config and then "use current station values. Then i restart the controller.

if i then in awpp make a module with a single weld and put it into the real robotstation, the weld is in the same position as before i changed my station.its like nothing has changed.

It must be some stupid mistake i am making but cant seem to find the fault im making

 

Kent zibrandtsen HARDI Int

Laro88

Have you downloaded to the VC / Synced to station depending on where you make the changes?  Sometimes RS does not show changes made until you sync.

kentZibrandtsen

HI

Yes i have tryed to delete the path in the VC and then sync it again in to the VC but with the same result.I have even tryed to move the station as far as 100 mm i y-direction, restart the controller and sync the path to VC. This was so that i would really be able to se any difference but also with the same result.

Anders S

Hi Kent,

IA'm not sure I understand your problem correct, but if you program in a workobject which is moved by the positioner, the targets should be on the same place on the workpiece even if you move the positioner. Because the userframe of the workobject will be placed on the base frame of the positioner, so as long the robot can reach the targets it will go to the same position on the workpiece.

But as I said, I maybe have misunderstand your problem.

kentZibrandtsen

Hi Anders

I have made the program in a wobj moved by positioner and everything seems to be alright.The problem is when i then sync to VC and take the welding module to the real life station, then the targets  havent changed theire position.They are stille in the same position as i i havent moved the positioner in RS

Anders S

That is correct, because when you move the positioner in RS and restart the VC you change the base frame value for the positioner in the VC. But you have not changed the base frame in the real controller, and the targets are relative the workobject which is relative the positioners base frame, which not is moved in the real controller.

kentZibrandtsen

How can i move my positioner in RS then so that the touchup in the real station is minimal.

 

Anders S

To calibrate the real cell with the RS cell, the easiest is to use the workobjects object frame.

In RS use the "Frame by Points - Three Points" method to define the obejct frame on three reference points, for example on the fixture or workpiece.

In the real cell you use the robot as pointer to define the object frame on the same reference points.