How to calibrate workpiece in real cell

Robodance

Hy there,
so my problem might be easy to solve, but I didn't find any topic in the net that helped me.

My problem is that I can't select the Workpiece in the real Flexpendant, which I made in the Robotstudio cell, to calibrate the objectframe. There is just the wobj0 workpiece to select.
So what I did:
- Build a Robotcell in Robotstudio with a new workpiece.
- Generate a Programm for the Process
- Sync with VC and start a simulation
- Then I made a Backup and copied it to my Flashstick
- Read the Flashstick with the Flexpendant
- Selected Programeditor and  "New Modul"
- Then I selected the module1.mod file from the Backup directory, located in
F:IRB4600_60kg_2.05m_BACKUP_2010-06-02RAPIDTASK1PROGMOD

There is no problem to run the program now. The Robot is exactly doing the same like in the Robotstudio simulation. But I have no idea how to calibrate the real Workobject with the flexpendant. My new Workobjekt doesn't apear in the Workobject list. So I am not able to adjust my Workobject with the 3point methode. Is there a mistake in my procedure?
Thanks for your help, .. looking forward for your comments

Henrik Berlin

Did you define a workobject or is your program using wobj0?

Robodance

I defined a workobjekt in Robotstudio, but it doesn't appear in the controller from the real bot. ... do I have to load the complete backup on the real Robot instead of just the modul?

Henrik Berlin

Is the workobject used in the move-instructions of your program(such as MoveL)?

If it is, but the workobject is not defined, then you have syntax errors in your program. If you have, you will not be able to run the robot. On the contrary, if you can run the robot, and the workobject is not there, then it seems that you are using wobj0 in your instructions.

 

Just check the RAPID files directly.

 

RS will sync your workobject to the VC if it is used by the move instructions of your program. If it is not used, then it is optional to sync it (possible from 5.13). That may be why it is not present in your RAPID code.

 

Which RS version are you using? Ensure to apply the patch if you are using 5.13.

Henrik Berlin2010-06-07 13:28:21

Robodance

Thanks for your replies,

I am using RS 5.12. I will chek the Rapid code tomorrow at work.

Today I talked to a techniq guy who told me the way he calibrate a workobject. He always calibrate the Workobjekt first, than make a backup, and than he restores this backup in RS to adjust the position of the Workobjekt modell. Is this a common way? Second Question, is it right just du load the Modul to the real robot? Or is it nessesary to restore the complete Backup

 

Thanks guys

mattdavis

Just the module should be fine as long as it contains everything you need.

If you put the calibrated work object back into robotstudio you can check your program more accurately to avoid configuration problems so this is a good idea.