Error in Track Motion

jipin.jose

Dear All,

 

I have created a system with IRB 4600 and a IRBT4004 track of length 19m.

I have created the work object also.

 

My robot is not positioned directly on the track, it is kept in a pedestal.
First i attached Robot to the track. then i moved the Robot to the desired position which i require.

The distance from the origin of Robotstudio to different places is shown below.

To Robot X=-701, Y=532, z=1280

Center of track  where robot is placed x=-648.5, Y= -540.0, z = 374.5

Position of Work object is X=0, Y = 0,z =400

 

When i teach a point in the workobject, for example P100, the value it is showing in the Home is x=665.85,y=1226.71,1223.87

But when i run the robot it is going to a position where x=613.35, y=2299.31,2129.37

 

i found that the problem is the origin is still in the centre of the Track only. How can i change it to the Robot.

 

Pls help me to solve this problem.

 

Regards,

Jipin Jose

 

Anders S

Hi,

You need to set the "Task Frame" to the same position as your robot:

 

 

But when you move the Task Frame, the robot and the track will move the same distance. So after you have moved the Task Frame, you must move back the track and robot with "Set Position".

In RS 5.13 have we changed this behaviour to make it more user-friendly.

 

 

jipin.jose

Hi Anders,

 

Thanks for your help.

But when i do the set frames it is showing me an error called"could not obtain the mastership" it is keep on coming which makes me to do nothing after that.

 

How can i solve this.

 

Regards,

Jipin

jipin.jose

HI,

 

I started creating a new station. so first i started with empty station.

Then i imported Robot and the Track. Then i atached the robot to the track. It has asked for the position of the robot. so i give that. Then i placed the robot and the track in the required position. Then i created system from layout. I haven't selected any extra option. So the system has been created.

 

Then i have changed the task frame to the base of the Robot. So the position of the track and the robot has been changed. So i made it again in to the correct required position. Then by the system configuration i have changed the values of the robot & track in the Controller as the similar value to the current station values respectievely.

Controller has been restarted twice. Then i created 2 MoveAbsj Points. (one is (0,0,0,0,30,0) and (60,0,0,0,30,0) and a MoveJ point which is 200 mm away from it.

 

I have created a path and tried to run the prog. It has moved to the second point, but then it has not moved to the next position, for which it is showing out if range. (Screen shot is attached.)

 

And another issue is after changing the task frame the RS becomes too slow and taking time for all the processes.

I'm not able to understand what is the problem happening in this. I have got stuckup in this. Looking forward to you to help me in this case and give me some solutions.

 

I'm attaching the Pack and Go also.

 

webwiz/2691/Des.zip

 

Regards,

Jipin Jose

Anders S

Hi,

When you place the Task Frame at the base of the robot, you should not change the Base Frame. So the error in your station was that you had moved the Base Frame of the track. I moved it back to x,y and z =0, then it worked.

Because of your "special designed" track you will have a warning about that the Base Frame in the system doesnA't match the values in the station, in your station you should ignore this warning.

webwiz/51/s222_2.zip

jipin.jose

Hi Anders,

 

Thanks alot for your help.

 

Regards,