RobotStudio event

Robtarget translation betwee workobjects

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duesentrieb66
duesentrieb66 ✭
in Developer Tools
Hello all,

I have a 6640 sitting on a 5 meter track. Now I try to figure out on what track position my new robtarget will be. Since the workobject I work in can be rotated over all axis I can not assume anymore that the X-value of my robtarget will be the same as on the track. So I need a function like the one I wrote blow.

This works fine to the point where the robot can not reach the new point anymore. In this case CalcJointT will bring a "out of reach" error.

How can I solve this problem when the new target further away as the robots reach?

Thanks in advance!
 
PROC PosEx_updateTrackPos(INOUT robtarget newTarget)<br><br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; VAR jointtarget jTarget;<br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; VAR robtarget rTarget;<br><br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; jTarget:=CalcJointT(newTarget,Endmill40mm\WObj:=wo_logholderRight);<br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; rTarget:=CalcRobT(jTarget,Endmill40mm\WObj:=wo_track);<br><br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; newTarget.extax.eax_a:=rTarget.trans.x;<br><br>&nbsp;&nbsp;&nbsp; ENDPROC


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  • Slokko
    Slokko ✭
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    Have you tried using an error handler in your Routine?
    </code><code>PROC PosEx_updateTrackPos(INOUT robtarget newTarget)<br><br>   VAR jointtarget jTarget;<br>   VAR robtarget rTarget;<br><br>   jTarget:=CalcJointT(newTarget,Endmill40mm\WObj:=wo_logholderRight);<br>   rTarget:=CalcRobT(jTarget,Endmill40mm\WObj:=wo_track);<br><br>   newTarget.extax.eax_a:=rTarget.trans.x;<br>  ERROR<br>    IF ERRNO = ERR_OUTSIDE_REACH THEN<br>      ! Code to handle positions out of reach goes here.<br>      <br>      <br>    ENDIF<br>ENDPROC


  • duesentrieb66
    duesentrieb66 ✭
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    Thank you, Slokko

    but this doesn't solve my problem. I still need the x value to make a decision where i will place the track BEFORE I move to the robtarget..
  • graemepaulin
    graemepaulin mod
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    Is this an ABB track?

    Do you want to have coordinated motion (that is the robot works as the track moves) or is the robot stopped while the track moves?

  • duesentrieb66
    duesentrieb66 ✭
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    I do have both cases. And yes, it is an abb track.

    I have up to16' long parts I have to work on both ends and also over the length.  I have a few workarounds but not happy with.

    Question is: my userobject is moved and rotated over all three axis. So is my workobject. Now the x axis in my user object is not necessarily paralell to the track. So i need to figure out where thr robtarget is in perspective of my track.

    Thanks for helping me.

  • graemepaulin
    graemepaulin mod
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    Please explain what you mean by moved and rotated by all 3 axis? Is the work piece being rotated by a positioner?
  • duesentrieb66
    duesentrieb66 ✭
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    No, the work piece is stationary.  It is a robot on a 5 meter track.

    Any robtarget is within a object frame and this object frame is in a user frame.  Both - user and object frame can be rotated and moved over all 3 axis.

    The track as an absolut value and is not bound to the user/object frame. So how can I know where to place the track when my next robtarget is out of reach?

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