Need urgently help about reltool

Robot Controller
1

Dear Friends,

We made a project about guiding the ABB IRC5 6640 robot with a vision camera system.

We are sending the Y Z variable values from Vision Camera to WinCC to PLC to ABB.

With this value we are changing the Tool offset with this following inputs and rapid code.

EIO.cfg

-Name “zPos” -SignalType “AI” -Unit “PBusSlave_PLC” -UnitMap “112-119”\

-Access “Default” -MaxPhys 63 -MaxPhysLimit 10 -MaxBitVal 63 -MinPhys -63\

-MinPhysLimit -10 -MinBitVal -63

-Name “yPos” -SignalType “AI” -Unit “PBusSlave_PLC” -UnitMap “104-111”\

-Access “Default” -MaxPhys 63 -MaxPhysLimit 10 -MaxBitVal 63 -MinPhys -63\

-MinPhysLimit -10 -MinBitVal -63

PROGMOD

DispL RelTool (CNT_10, 0, yPos, zPos), v100, b50, z10, tool_1\WObj:=Wobj_3;
DispL RelTool (CNT_20, 0, yPos, zPos), v100, b50, z10, tool_1\WObj:=Wobj_3;
DispL RelTool (CNT_30, 0, yPos, zPos), v100, b50, z10, tool_1\WObj:=Wobj_3;
DispL RelTool (CNT_40, 0, yPos, zPos), v100, b50, z10, tool_1\WObj:=Wobj_3;
" "

" "

We need to change the tool ofset in Y Z online!! thats mean real time and guide the robot in Y Z coordinate and guide it. With this above codes its seem to be working in robot manuel mode (point to point) but in automatic mode we dont get the succes result. Expl, the Y and Z values comming to robot AI in 100 ms. and its allways variable, but the robot is not responsing on time to move with this value in Z Y axis. Do we make a mistake! should we put the “zPos” and “yPos” variables to each point like above or directly to the MainModule.mod on the tooldata,

PERS tooldata tool_1 := [TRUE,[[0,0,584],[1,0,0,0]],[5,[0,0,195],[1,0,0,0],0,0,0]];

Note: Our robot is supporting also the multitasking future.

We need urgently help!!!.

Thank you in advance for your help.

Alen.

2

(fixed syntax)

Dear Friends,

We made a project about guiding the ABB IRC5 6640 robot with a vision camera system.

We are sending the Y Z variable values from Vision Camera to WinCC to PLC to ABB.

With this value we are changing the Tool offset with this following inputs and rapid code.

EIO.cfg

-Name “zPos” -SignalType “AI” -Unit “PBusSlave_PLC” -UnitMap “112-119”\

-Access “Default” -MaxPhys 63 -MaxPhysLimit 10 -MaxBitVal 63 -MinPhys -63\

-MinPhysLimit -10 -MinBitVal -63

-Name “yPos” -SignalType “AI” -Unit “PBusSlave_PLC” -UnitMap “104-111”\

-Access “Default” -MaxPhys 63 -MaxPhysLimit 10 -MaxBitVal 63 -MinPhys -63\

-MinPhysLimit -10 -MinBitVal -63

PROGMOD

DispL RelTool (CNT_10, 0, yPos, zPos), v100, b50, z10, tool_1\WObj:=Wobj_3;
DispL RelTool (CNT_20, 0, yPos, zPos), v100, b50, z10, tool_1\WObj:=Wobj_3;
DispL RelTool (CNT_30, 0, yPos, zPos), v100, b50, z10, tool_1\WObj:=Wobj_3;
DispL RelTool (CNT_40, 0, yPos, zPos), v100, b50, z10, tool_1\WObj:=Wobj_3;
" "

" "

We need to change the tool ofset in Y Z online!! thats mean real time and guide the robot in Y Z coordinate and guide it. With this above codes its seem to be working in robot manuel mode (point to point) but in automatic mode we dont get the succes result. Expl, the Y and Z values comming to robot AI in 100 ms. and its allways variable, but the robot is not responsing on time to move with this value in Z Y axis. Do we make a mistake! should we put the “zPos” and “yPos” variables to each point like above or directly to the MainModule.mod on the tooldata,

PERS tooldata tool_1 := [TRUE,[[0,0,584],[1,0,0,0]],[5,[0,0,195],[1,0,0,0],0,0,0]];

Note: Our robot is supporting also the multitasking future.

We need urgently help!!!.

Thank you in advance for your help.

Alen.

3

Any Help ???

4

Need Help Please…

5

Hallo, use digital IO and do a handshake to the PLC.

Set robot is ready to read next position , Wait for plc to set value and PLC ready signal and then reset ready signal from RB, check if PLC go low …repeat for next position.