RS Targets Fixed to Robot Base Frame

matt.r.murray

Hi,

I have a problem where the robtargets in RS are fixed to the base frame and do not represent the real positions in the world coodinate system.

I have set up a system with an IRB1600ID being moved on an XY Gantry that is made from two IRBt4003 tracks set up perpendicularly to one another. The base frames have been set up correctly, and the robot base frame is set to be moved by the second track. 

The system behaves as expected, and I can teach points and get the robot to move to taught positions with varying external axis values.

My problem is that the positions are all fixed to the robot base frame and do not differ due to external axis values. For example, if I teach two points such as:

robtarget Target_10:=[[900,  0, 1200],[0.5,0,0.866025403784439,0],[0,0,0,0],[0,0,9E9,9E9,9E9,9E9]];

robtarget Target_20:=[[900,  0, 1200],[0.5,0,0.866025403784439,0],[0,0,0,0],[1000,0,9E9,9E9,9E9,9E9]];

These targets look like the exact same point in RS despite the first external axis being 1000mm different, even though when simulated the robot moves to positions 1000mm apart. How can I get RS to show these points as different positions in the World Coordinate System?

Thanks,

Matt

Henrik Berlin

You need a custom mediapool for this setup. Please contact your local ABB Robotics Service representative.

matt.r.murray

Hi Henrik,

couldn't I just use the mediapool files for a 2 axis linear Gantry for this system? And then all of the given positions should show up properly in RS?

Regards,

Matt

Henrik Berlin

Please get in touch with your local ABB Robotics Service representative that can forward your issue to our tech support so that we can take a closer look at the problem.