Hello All,
Having a new to me issue when defining an object method wObj tied to mechanical unit STN1 (A750). Have a lot of IRC5 experience and this had been a head scratcher.
Calibration flowdown is all correct. Motor offsets, revolution counters, TCP, load data, positioner base frame calibration, etc.
An example of a good Wobj with the same formatting:
PERS wobjdata wPositioner := [FALSE,FALSE,“STN1”,[[225,375,20],[0.707107,0,0,0.707107]],[[-44.1626,286.691,-87.2874],[0.50497,-0.000303555,0.000288399,-0.863137]]];
When defining with 3 point object method in the definition wizard, the summary tab displays all of the correct translation and quaternion values, but it doesn’t apply those values back to my module that holds the work object data. I can change over RS and apply changes to the flexpendant, but it seems like a 1 way stream and not applying back to the controller through the pendant.
I can successfully define a work object using object method that doesn’t use the positioner’s frame:
PERS wobjdata wTable := [FALSE,TRUE,“”,[[1049,0,225],[1,0,0,0]],[[1733.39,224.543,658.881],[1,-2.23296E-05,1.83132E-05,-0.000105552]]];
Has anyone seen this before? I reached out to ABB support and they are working on resolution.
Thank you in advance.