Rotating a trunnion

SBalamucki

I have a trunnion in my workcell that is NOT controlled by the robot; I created it using the kinematic modeler. I am trying to determine how to rotate the trunnion during certain points while running my program (i.e. Run through a couple paths, rotate the trunnion 90 degrees, run through a couple paths, rotate another 90 degrees, etc.)

Does anyone have an idea how to do this? Or perhaps I could pause the program and rotate the trunnion manually but this is not optimal. Any suggestions? Thanks.

Stacey

SBalamucki38685,9500578704

Anders S

Hi Stacey,

You can control your trunnion with a VBA Macro, that you trigg with a event int he EventTable (See the Online Help how to use the EventTable). Here is an example of a VBA macro that rotates the attached TurnTable 90 degrees each time. Paste the code in the VBA-editor that you find in the menu: Tools - Macro -  Visual basic Editor. VBA code:

Sub RotateTable()
    Dim Value As Variant
    Dim TurnTable As Mechanism
    Dim dblDeg As Double
    Dim TurnValue As Variant
    Dim Pi As Double
   
    Pi = 4 * Atn(1)
    dblDeg = Pi / 180
    Set TurnTable = ActiveStation.Mechanisms("TurnTable")
    TurnValue = TurnTable.JointValues
    If RotateValue > 360 Then
        RotateValue = 0
    End If
    TurnValue(0) = RotateValue * dblDeg
    TurnTable.JointValues = TurnValue
    ActiveStation.Refresh
    RotateValue = RotateValue + 90
End Sub

TurnTable.ZIP

Anders S38686,4680092593

SBalamucki

Hi Anders,

Thanks for the help, I figured I might have to use VBA. I'm somewhat familiar with it so I think I will be okay it that area. I'm having some trouble setting up the event table the way it should be.

My program doesn't have a set number of procedures it runs through before it needs to turn the trunnion. Sometimes it runs through 3, sometimes 4, etc. I also have multiple pounce positions to where the robot returns to before the trunnion turns. What do you suggest to do to trigger the event at exact locations in the code(i.e. after procedure a308, turn the trunnion, then continue, etc.)? Is this possible? Thanks.

Stacey

Anders S

Hi Stacey,

I suggest that you use a I/O-signal to trigg the event.
So if you use the rapid instruction SetDO to set the I/O (SetDO doRotate,1;), can you reset the same I/O from the VBA macro:

Sub RotateTable()
    Dim Value As Variant
    Dim TurnTable As Mechanism
    Dim dblDeg As Double
    Dim TurnValue As Variant
    Dim Pi As Double
    Dim VC As Controller

    Set VC = ActiveStation.ActiveMechanism.Controller
    Pi = 4 * Atn(1)
    dblDeg = Pi / 180
    Set TurnTable = ActiveStation.Mechanisms("TurnTable")
    TurnValue = TurnTable.JointValues
    If RotateValue > 360 Then
        RotateValue = 0
    End If
    TurnValue(0) = RotateValue * dblDeg
    TurnTable.JointValues = TurnValue
    ActiveStation.Refresh
    RotateValue = RotateValue + 90
    VC.IOs.Item("doRotate").Value = 0
End Sub

 

SBalamucki

Anders,

Thanks for all the help. I got everything running as planned. In case anyone wanted to see my final code I added it at the bottom; I tweaked it a bit from yours. Thanks again.

Stacey

Sub RotateTable()
    Dim Value As Variant
    Dim Trunnion As Mechanism
    Dim dblDeg As Double
    Dim TurnValue As Variant
    Dim Pi As Double
    Dim VC As Controller

    Set VC = ActiveStation.ActiveMechanism.Controller
    Pi = 4 * Atn(1)
    dblDeg = Pi / 180
    Set Trunnion = ActiveStation.Mechanisms("trunnion")
    TurnValue = Trunnion.JointValues
    RotateValue = 90
    TurnValue(0) = TurnValue(0) + (RotateValue * dblDeg)
    If TurnValue(0) > 7 Then
        TurnValue(0) = 0
    End If
    Trunnion.JointValues = TurnValue
    ActiveStation.Refresh
    VC.IOs.Item("doRotate").Value = 0
End Sub

SBalamucki

Hi Again,

I have one more question, more for curiosity sake than anything. If the device (i.e. Trunnion) was controlled by the ABB controller, how would that work? I know that only RS5.0 with the IRC5 Controller can control multiple robots, but can RS3.2 with the S4 controller control both a  robot and, for example, a trunnion at the same time? Thanks.

Stacey

Anders S

Hi Stacey,

Yes the Trunnion can be controlled by the robot. A S4 controller can control up to six external axes (coordinated or uncoordinated).

But you have to configure your system for the external axis.

Together with RobotStudio is the program ConfigEdit installed. This program can you use to create configuration files for external axes. But be aware of that you have to know what type of drive units and so on you should use for the external axes.

If you control a external axis by the robot, you have to add the external axis value to your robtarget data.

 

Anders S38688,6815162037

SBalamucki

Thanks!