wobj + external axis [ArcWelding PowerPac]

RobotStudio PowerPacs
1

I’m using AWPP 5.13 and ran into this problem. I’ve defined a new work object with parameters: Programmed → False, Moved by mech. unit → STN1 (positioner). Path targets are placed relative to the new wobj1 and are green in path view (verified).
Program itself goes like this: ActUnit STN1 → approach → weld → Depart → DeactUnit STN1, positioner is set to 0 deg and doesn’t get changed.
The problem is that when simulation is launched, during the approach, robot moves the welding gun to a random position and program stops (error - Joint Out of Range). Sync to VC doesn’t help. If the wobj1 is not tied to the positioner, program works fine.

What might be the problem? Thanks.

2

Hello,
One problem can be that the positioner has wrong calibration values.

BR / Henrik

3

Hmm … I’ve checked the positioners rotation angle in all targets (eax_e), it’s set to 0, all targets are verified. Still nothing …

4

Hi,
What I mean is the baseframe (calibration frame) position of the positioner.
You can check this under System Configuration in RS.
This is the value from wobj0 to the base frame of positioner.
This value has to be the same in RS as in the virtual controller.
BR/Henrik

5

I’ve changed the positioners baseframe values, now everything works fine. Thank you!

6

Perfect :wink: