Issue with my weld program, Please help

rick kiefer

I programmed our ABB Robotic welder with the teach pendant. I am welding on side A and have the table rotating 180 degree's to weld backside of my part. But when I go in to test mode my table never rotates. It stays were I have it positioned. Entire program front and back runs dry but can not get table to rotate? Can someone tell me what I missed or did not do while programming it? I am at a lost and new to ABB.



Thanks,



Rick

osku

Hi Rick

 

I guess it's because the table hasn't been activated in the program during teaching. Try to add instruction ActUnit STN1; (note that the name STN1 is name of the mechanical unit and depends on your setup) before any move instructions. Before you can run the program you should also re-teach the targets to have the values for the external axis included in all robtargets. To do that, you could execute this ActUnit instruction and then do the re-teach for all the targets.

 

I hope it helps.

 

-Osku

chincp

Hi,

 

I am also having some doubts after reading through the RAPID manual.

I am considering teaching 8 points to the robot arm and wished that after the table has turned 90 degrees I do not need to repeat to teach another 8 points.

Is there anyway to program the robot arm and external axes separately?

So that it works like after welding the 8 points, table rotates, re-read the 8-points that I have defined earlier.

 

 

graemepaulin

Hi,

 

You can program the robot and the table seperately, though this would not be the normal way of doing things.

-In the robot move instructions do not reference the table position at all (ie leave 9E9 in all the external axis postions), and used named points so you can reference them again once you have turned the table.

-To move the table use MoveExtJ.

 

If you program the moves seperately the postions that the robot has to move to will have to be identical on both sides of the table.

 

Hope this helps

Graeme

 

 

chincp

Thanks a lot Graeme!

 

Is it possible if I do the program as follow:

PROC main()                        ActUnit
STN1;<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

                        ....                       

        
               firstwelding();

                       ...

                        MoveExtJ j1,vrot10,fine;

firstwelding();

PROC
firstwelding()

        
MoveJ stdy1, v400, fine, tLaserSpotWObj:=wobj1;               

        
MoveL p1, v35, fine,tLaserSpotWObj:=wobj1;                      

        
startLaserprog;                                                                          

        
MoveL p2, v35, fine,tLaserSpotWObj:=wobj1;                     

       
EndLaserprog;                                                                          ENDPROC;

Thanks a lot for your help!

graemepaulin

Hi,

 

Yes this will be OK as long as your robot moves do not reference thetable.

 

Regards

Graeme

chincp

Thank you very much for your help! Will be able to know whether this is successful after I have teach the points to the robot on next monday!=D

 

Thanks a lot again!