How to move external axis without moving robot.[MOVED]

Robot Controller
1

Hi, We have 2 rotary stations for our robot set up. I want to move station 1 to a certain position to clear space before any welding is started on station 2.
It is only at the start up, once the position is reached, the station should be deactivated. I know one way to achieve this is to create a target with specified position for both stations, but I am just wondering if I can move the external axis alone without having the robot to move at all. Is this possible? and if so, how?

Regards
Kent

2

you can use a MoveAbsJ, here you can enter the values for the robotaxis and the external axis.

If you only alter the external axis value only the external axis will move

3

Hi, SjoLi.
Thank you so much for your reply. I think this is the function that I am after. I have managed to move either external axis, but I cannot manage to get both station activated.
Any thoughts?

Cheers
Kent

4

Hello Kentz,

this probably has to do with the amount of driveunits
You have on 6way driveunit for the robot, and then only one extra for both external axis (in position X3).

When you activate the power is switched from one to the other. Therefor they can never be active at the same time, and activation switches from one to the other.

You can check this in your optionlist

look for aditional drives pos X3/Y3/Z3

5

Hi!

I have a question on the same subject, has two stations on our positioners. While the robot is working on one, we want to be able to on a signal from the PLC rotate the other, does anyone know how to do this? Do not know at this time how many additional drive modules we have in the robot. We will use a IRBK positioner.

/erik

6

Hi, Erik.The problem we had here before is that we only have one drive, which means there is only one station allowed to move at a time. According to ABB, it required multiple drives to allow such.