Wobj

rosalino1978
rosalino1978 ✭
in RAPID Programming
Hello, I'm new to the forum and I need help from an Abb robot programmer.

I have a defined workobject, but I would like with the help of an external laser that will give me a decimal value to modify this wobj always thanks to the reading I receive, in turn when the form is finished, this wobj must return to its original value.

Example:

Wobj(1500,300,200)

Laser reading y -100

newWobj(1500,200,200)

End of cycle = original wobj

Thank you

Answers

  • lemster68
    lemster68 ✭✭✭
    Write it into the oframe, then zero it back out.
    Lee Justice
  • Tompanhuhu
    Tompanhuhu ✭✭✭
    edited March 26
    Here is an example.

    MODULE Module1
        PERS wobjdata myWobj:=[FALSE, TRUE, "",[[0, 0, 0],[1, 0, 0, 0]],[[0,0,0],[1,0,0,0]]];
        PERS robtarget pPosition:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

        
        PROC main()
            !Move robot to position
            MoveL pPosition,v1000,fine,tool0\WObj:=myWobj;
            !Update wobj with camera values
            myWobj.oframe.trans.x:= 100; !100mm X value from camera
            myWobj.oframe.trans.y:= 150; !150mm Y value from camera
            myWobj.oframe.trans.z:= 0; !0mm Z value from camera
            !Move robot to new camera position
            MoveL pPosition,v1000,fine,tool0\WObj:=myWobj;
            !Reset wobj
            myWobj.oframe.trans:=[0,0,0];
        ENDPROC
        
    ENDMODULE

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  • rosalino1978
    rosalino1978 ✭
    It is not a camera but it is simply a sensor that gives me a value on the Y axis, this value is filtered by the PLC

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