Robtarget translation betwee workobjects

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1

Hello all,

I have a 6640 sitting on a 5 meter track. Now I try to figure out on what track position my new robtarget will be. Since the workobject I work in can be rotated over all axis I can not assume anymore that the X-value of my robtarget will be the same as on the track. So I need a function like the one I wrote blow.

This works fine to the point where the robot can not reach the new point anymore. In this case CalcJointT will bring a “out of reach” error.

How can I solve this problem when the new target further away as the robots reach?

Thanks in advance!

PROC PosEx_updateTrackPos(INOUT robtarget newTarget)

        VAR jointtarget jTarget;
        VAR robtarget rTarget;

        jTarget:=CalcJointT(newTarget,Endmill40mm\WObj:=wo_logholderRight);
        rTarget:=CalcRobT(jTarget,Endmill40mm\WObj:=wo_track);

        newTarget.extax.eax_a:=rTarget.trans.x;

    ENDPROC
2

Have you tried using an error handler in your Routine?

PROC PosEx_updateTrackPos(INOUT robtarget newTarget)

   VAR jointtarget jTarget;
   VAR robtarget rTarget;

   jTarget:=CalcJointT(newTarget,Endmill40mm\WObj:=wo_logholderRight);
   rTarget:=CalcRobT(jTarget,Endmill40mm\WObj:=wo_track);

   newTarget.extax.eax_a:=rTarget.trans.x;
  ERROR
    IF ERRNO = ERR_OUTSIDE_REACH THEN
      ! Code to handle positions out of reach goes here.

    ENDIF
ENDPROC
3

Thank you, Slokko

but this doesn’t solve my problem. I still need the x value to make a decision where i will place the track BEFORE I move to the robtarget..

4

Is this an ABB track?

Do you want to have coordinated motion (that is the robot works as the track moves) or is the robot stopped while the track moves?

5

I do have both cases. And yes, it is an abb track.

I have up to16’ long parts I have to work on both ends and also over the length. I have a few workarounds but not happy with.

Question is: my userobject is moved and rotated over all three axis. So is my workobject. Now the x axis in my user object is not necessarily paralell to the track. So i need to figure out where thr robtarget is in perspective of my track.

Thanks for helping me.

6

Please explain what you mean by moved and rotated by all 3 axis?
Is the work piece being rotated by a positioner?

7

No, the work piece is stationary. It is a robot on a 5 meter track.

Any robtarget is within a object frame and this object frame is in a user frame. Both - user and object frame can be rotated and moved over all 3 axis.

The track as an absolut value and is not bound to the user/object frame. So how can I know where to place the track when my next robtarget is out of reach?