Sync to VC doesn't contain external axis information

kentz

Hi, external axis information is not passed to VC after sync. its 9E9 in terms of value. I have to manually change in the rapid to get the right angle. 

All targets are not verified after syn back to station after changed code in rapid.

Am I doing anything wrong here?

jesus

The workobjet the video is set to:

PERS wobjdata Workobject_1:=[FALSE,FALSE,"STN1",[[-1.562530416,-3.104387457,639.106804359],[0.073833055,0.090971337,0.151299875,-0.981519864]],[[-1.562530416,-3.104387457,639.106804359],[0.073833055,0.090971337,0.151299875,-0.981519864]]];

the values ​​of the object coordinate system and user are the same.

kentz

I have also found out that my work object frame is changed, and hence all targets, when sync back to station.

Does this have anything to do with my set up? I have a table that't attached to external axis and the work piece model. and the work object's frame is attached to that work piece model.

Any help?

jesus

Hi Kentz.

Check out the attached video.

Broadly, that´s the way to transfer from station to VC, a path developed in the station.

Regards.

Jesús

kentz

Hi, Jesus

I think you forgot to attach the video.

It is not really having No external axis information, sorry about the mis-wording.

I have like say, 3 values for external axis during the whole task. I have 3 procs and they all work individually. But when I put them in a main proc calling the, at least one of the 3 proc's targets are rotated around the external axis by a certain amount. The graphics area shows that the external axis does move to where I wanted it to move, but the robot is not going to the specified targets. 

When I sync the path n targets back to station, the work object frame sometimes rotate itself around the external axis.

Any idea why?

jesus

Hello again.

The video has not finished uploading.
I've uploaded to Youtube.

http://www.youtube.com/watch?v=g3edCCrtgC0

jesus

The initial configuration of the station must be the layout that you've placed the elements (robot, external axis, etc).
The first few seconds of the video show how to do.

kentz

Thank you so much for your time and uploading videos. 

I have done pretty much what you did in the video. But there's no luck for me.

current station position and controller position are the same.

I am just scratching my head why it is not working.

I have managed to get each individual path working all right.

But its just when I put them all together into a main proc that does weird stuff.

Should I upload a video?

jesus

Whatever you want.
I am now studying a little more RS.
It is always important to see the development in the station and then see it in the controller.

A video is better than 1000 words. :-)

jesus

Have you created different workobjets for each path?. If so, you have to create the objects using the workobjet and active tool.

kentz

No, I have the same work object all the way along. It is attached to a fixed table which is attached to the external axis. 

IDo you need to create a different work object for every different external axis position?

I have got my tool active, work object active. 

I can choose to active which path, but I don't know what does that do.

Thanks

jesus

I'm here.

The data type has nothing to do with this.
To test, change the value of the workobject, giving the same value to the coordinate system of object and user.

kentz

Hi, I think I have found what the problem is. It is the wobjdata declaration, I have made the ufprog to be TRUE. It needs to be FALSE. But I am having some offset issue here. uframe is continuously defined by the system, I am assuming oframe is user defined? relative to the external axis? 

kentz

Thank you so much Jesus!!

I have managed to get it working. I have just detached work object frame from the table, which is attached to the external axis, and attached the work object frame straight onto the external axis.

It would be nice to have the work object attached to a table, as it is likely to have different tables mounted to the external axis and work piece onto the table.

kentz

Hi, Jesus. 

An extra question. robtarget data, the extjoint part. u have [a,b,c,d,e,f] for different external axis according to the RS help.

I have only got 2 external axis here, but it seems that only axis "e" will change my external axis. None of the other will change the external axis position. 

It can only change one axis at a time.

Actunit STN1. then use MoveAbsJ to move STN1 to desired angle. Deactunit STN1.

I have to do the same for STN2 again.

Is this because both stations are assigned to axis "e"? 

jesus

yes. this is the same "e" axis for both stations.

kentz

Where can I change that?

jesus

In the virtual station or VC / FlexPendant?

kentz

Hmm... I am still pretty lost?

Does the information contained somewhere in a module? I can't seem to find it.

jesus

Your can view the process (proc) in FlexPendant?. Can you run it?. If so, look in "Program Data", "robtargets" and edit the value.

kentz

Yes, I can access FlexPendant. But editing the robtarget data can only edit particular target.

 I want to assign STN1 and STN2 to different extax value.

jesus

they only have to active STN1 or STN2 before executing the movement instruction. It must also be enabled the workobject in move instruction.

kentz

Does this mean I cannot assign the two stations with different extax value?

jesus

Kentz.

The time difference between our countries most that exists on the planet. You start your day and I already have to go to bed at night.
With your permission I'm going to sleep.

Continues to investigate. The Youtube tutorials are insufficient, but perseverance is your best ally. :-)

A greeting.