CreateMechanism Robot- no media file

thcmaniac

Hi. I have a big problem. I've created a Robot using the Mechanism utility in RobotStudio. I can't add controller,i must have media(ktx or cfg file). So please tell me how am I supposed to do or where to find these files. sorry for my bad english

Henrik Berlin

RobotStudio supports ABB robots that use the RobotWare mediapool available on the RobotStudio download image. Other mechanisms can be used as peripheral equipment (rails, gantries, positioners, spot weld guns, etc) and are configured with a dedicated MOC.CFG file or a so-called additional option mediapool. Certain custom mechanisms can be configured using the External Axis Wizard available on the RobotApps page.
Henrik Berlin2013-01-06 14:56:44

thcmaniac

My robot have 4 linear axis and 1 axis Z rotation. I try use stand alone controller but when i will do it don't working patch use all axis. When i started simulation, motion is only on one axis X. 

Henrik Berlin

I assume that your robot maps to one of the standard kinematic models supported by the standalone controller, see the application manual for details.

The next step is to create the mechanism in RobotStudio. An important step is to define the joint mapping. It defines which of the six 'joint value slots' that are used by your mechanism.

thcmaniac

Yes my robot is support by the standalone controller (xyzc(z)). I created mechanism by "create mechanism" and click "compile mechanism". I dont understand what i have to set in Joint Maping. It's looks like: 

I use own library: webwiz/7711/manipulator.rar . After install stand alone controller i create new system use system builder and in modify option i selected : 

Nextly when started new path woriking all axis but during simulation work one X axis. Please check my library and tell me what i doing wrong. 

Henrik Berlin

Hi,

I looked at your mechanism, and made a couple of corrections. See the word document of the attached zip file. I also made a short movie to show the manipulator in action.

webwiz/772/modified_manipulator.zip

I was wrong about the joint mapping, that was not the problem.

thcmaniac

Hi. Thanks very much. I check your library but you doing wrong range. When i try change range, library not working correctly. I dont understand what i do wrong. If you can please edit my library: 

x range -250 to +250

y -250 to +250

z 0 to -100 (Z axis should go down)

rotation Z axis -90 to 0 degress

I have a question. Tell me does the existing system, you can add next virtual drive key??

thcmaniac2013-01-07 21:49:32

Henrik Berlin

When connected to a controlller system, RS will use the limits of the MOC anyway. You should change the limits in the MOC file. (Configuration Editor->Motion)

You can modify existing systems in the system builder if that is what you are asking.

thcmaniac

Ok. Please tell me What extended working range to 4000mm??

Henrik Berlin

I have recorded a short movie that shows how to modify the joint limits of the controller. You can configure the limits as you want, even up to 4000 mm.

thcmaniac

ok thank for helping.