Sir
Please help me and reply.I 've confused about relativetool(Reltool). I wanna know where can I get details about it to read clearly.It would be better if you explain me.
I wanna to know urgently. Our company use IRB 6600,Type 2 and single cabinet to cut the timber like square, sawtooth, and slope or incline and so on.
Reltool is used for moving the tool relative to its current position (in tool coordinates).
I would suggest you probably want to use offset rather than reltool as reltool can be confusing when the tool changes orientation for cutting. But if you need to change the tool angle relative to the current tool you can’t use offset and must use reltool.
Thank you so much
But our company need to cut with only reltool.
I wanna read details about reltool.
Anyway, I feel happy because your reply
Hi,
I created a .pdf of the RelTool chapter from the rapid reference available in robot studio.
Hopefully this is what you needed.
webwiz/2051/RelTool.zip
Best Regards
Stefan Westberg
:grinning:
Sir
I am very glad that you reply me again.
I want to cut the timber with 45 degrees .It is ok in program,actually it is wrong direction in moving robot. I feel very confused.
How can I solve this problem?
Please help me!
I wanna know urgently.
remember that rel tool is working in the tool coordinate system. Which is defined about the tcp with orientation as specified in your tool definition.A?
If it is not moving as you expect put the robot into manual mode and job around in the tool coordinate system to see if you get what you expect. If you rotate the tool and then jog again you will see that the coordinate system rotates with the tool.
This is probably the easiest way the get your head around the tool coordinate system.
Also i still dont understand the requirement to use reltool, i do lots of cutting with robots and the only time i use reltool is for touch sensing searches.
:grinning:
Dear Sir,
I have encountered with big problem for me.I cannot move the robot by manually or automatically.It has error that is 50204. It means that MOTION SUPERVISION that describes motion supervision triggered for axis 3 on mechannical unit ROB-1.
I feel very unhappy because my robot doesn’t move absolutely.
I can not test my program.
Please help me and reply as soon as possible.
I thank you so much for your reply
How to solve the problem?
:nauseated_face:
Hi,
This means that you have a collision on ax 3. See if you have selected in the jogging window the right tool, or that the hoses are stucked somewhere.
sometimes??Oeven there is no collision on any axes??Othere was still a ?_osupervision?__.
in this case,you must release the braker manully on the relative axes.
Dear sir,
I wanna know clearly make new home position and change home position in robot.
How to creat or define new home position and change home position?
My trainer told me that I 'll put zero position and then move my desire position.And then ABB-program editor- debug- pp to routine-teachpoint.I tried this way but I cannot get my home position.It caused collision again and again.
I 'm fresh learner about ABB robot and rapid programming.
What can I do for that?
Please explain me and write procedure step by step.
Please Help me and reply urgently!
It drives me crazy.
Regards,
Mie
Hi Mie,
As follows: Move the robot to the position that you desire, and jump with the cursur to the instruction of the homeposition ( if this position already exists ), in the program screen. Then press modify position. Then this is your new homeposition. Otherwise, if no homeposition instruction exits,‘add’ a new move instruction in your program. Then this should be ok.
Hope this helps.
:star:
Dear Sir,
Let me clarify the situation as it is now :
Having move the robot to a random position far from home position, we shift to automatic mode and start our program in which the first move is to go to home position. The robot does it without any problem/error. It is only then, when trying to execute the next command (moveL offs (Ppick,0,-100,300),v300,fine,tool0;), that the program stops and we receive the error message :
50143
Robot axes configuration
Actual configuration is not same as ordered and/ or movement of any robot axis is larger than 90 degrees, Robot ROB-1,axis rob1-5.
Actions
Use SingArea-Wrist,ConfL-off, modify position or insert intermediary point.
Please find another solution asap because we are not able to test our modules.
Thanks in advance for your help.
Hi Mie,
Try to change the MoveL to a MoveJ and see what the robot does.
How far away is the home position from the pick position?
Dear Sir,I can solve problem by using this way. Thank you for your help.I want to see some sample programs related with timber cutting. I always face various kinds of problems when I use moving with robot after finished program writing.
Please help and guide me because I’m begineer learning about robot.
Please reply me as soon as possible.
Best Regards,
Mie
Dear Sir,
Now I can use simulation in robotstudio 5.11. Thanks for your help.
The another thing is I want to know what kinds of sensor is good for wood cutting with robot.
Please reply me and give the name of sensor. I want to get some help from somebody.
Best Regards,
Mie
robotic@pacificforest.com.sg
Hi Mie,
What do you want to detect with the sensor? Please be a bit more specific, so that i can answer you correctly.
Dear Sir,
Now, our company is try to set up conveyor and sensors.
We have only IRB 6640 robot, that’s why we have to get successful condition to cut timber.
I wanna know which sensor is suitable for cutting timber.
When the timber ( digital input) come to cut and sense and clamp the timber, wait the time,
and then move forward and so on…
At first, we want to use simple because we are not perfect and don’t know very well for that.
Please help and reply me, I want to know urgently.
Anyway, I really appreciate you so much.
I feel very happy when I see your reply, I get a lots of knowledge from this forum.
Best Regards,
Mie
Hi Mie,
Any sensor with a reflector should do the job if i understand your project right. I would recommend to look at the site of carlo gavazzi. http://www.productsonline.info/POL/index.jsp?lang=EN
I hope this helps.
Dear Sir,
Thank you for your help.We are thinking to use 1. SHARP GP 2D12, GP 2D120 2. CMUCAM3
and 3. Maxsonar. Which one is suitable for us among them?
If not ok, Please give me the names of sensor.
Please guide me which sensor do I use.
How should I do?
Thanks in advance for your help.
Best Regards,
Mie
Hi Mie,
I guess that the sensor you have to use should measure the distance between the tool and the timber? Please explain what exact the function is of the sensor.