[Solved] Use an external axis to move robot

Thom

I want to use an external axis like IRBT7003 (translation axis) to move a 6 axis robot.

I specified all positions and path of the robot and the external axis. They're all reachable.

When I run auto config axis I can see the robot follow the path, set the configurations of the differents positions but when I execute move instructions it doesn't work.

I had differents error messages like "position unreachable" or "axis configuration problems".

Sometimes the robot executes a really incoherent movement until an axis be in max or min position and error message says axis out of range.

There isn't a tutorial about that on online Training and software help doesn't help me to solve this problem.

Is anybody could explain how to do it ?

Thanks

Thom2011-01-14 11:13:04

Henrik Berlin

You need to do a "Sync to VC" after running AutoConfig. Also, please ensure that ConfLJ /Off, ConfJ /Off has not been used in the program to disable the use of the confdata. (To be on the safe side, you can use ConfJ /On, ConfL /On to really ensure that confdata is enabled.).

 

Verify the confdata of the targets in the RAPID code, and verify the values of the JointJog / LinearJog window of RS.

 

 

Thom

"You need to do a "Sync to VC" after running AutoConfig." --> I did it

I'm sure that ConfL /Off and ConfJ /Off has not been used.

confdata of the targets are OK

What are exactly "values of the JointJog / LinearJog window of RS" ?

My system is composed of a robot IRB7600 and a mechanism (external axis). This mechanism il a lifter (translation axis).

I talked to someone from ABB in France. He creates the system for me to be sure that mechanism be correctly set.

I can move the robot (6 robt's axis + external axis) by using virtual flexpendant. Everything seems OK but I have a problem yet : robot don't run any path.

Error message is axis configuration problems and recommend to set SingArea /wrist or ConfL /Off. I tried but it's in this case that robot, like I said before, "executes a really incoherent movement until an axis be in max or min position and error message says axis out of range."

On the other side, path made of articular position runs correctly. MoveL, MoveJ and MoveC doesn't works but MoveAbsJ and MoveExtJ works.

The guy from ABB don't know why it doesn't works and is wainting for return of his colleague next week but the earlier I find a solution, the better it will be.

Thanks for helping

Anders S

You say that the mechanism is a lifter. Does that mean that the external axis move the robot in Z direction?

If that is the case you must be sure that you have defined the Task Frame in RobotStudio and the Base Frames in the Virtual Controller (for the external axis and the robot) correct.

Thom

Yes, the external axis move the robot in Z direction.

The mechanism frame isn't the same as robot : X direction of mechanism frame coincides with Z direction of robot frame.

Can you explain me more precisly how to verify Task Frame and Base Frame definitions ?

Anders S

The Task Frame defines where the coordinate system of the Virtual Controller is placed in the RobotStudio world. The Base Frame(s) defines where the mechanism(s) (robot and track) are placed relative the coordinate system of the Virtual Controller.

An IRBT7003 is normally moved in the systems (Virtual Controller) X+ direction. So in your case the Task Frame X axis should coincide with the external axis X+ direction. The Base Frame of the robot has to be rotated so it compensate the difference of the robots orientation relative the Task Frame.

Thom

I forgot one things :

I no longer use IRBT7003 but a mechanism (create by my ABB contact) made of two geometry (from CAD) and un cfg file.

Anders S

Ok, in that case I recommend that you contact your ABB contact for support who knows how this system should be configured.

Thom

I finally solved my problem.

You was right, it was the base frame which wasn't in the same orientation as task frame.

Thanks for all