I run an IRB4600 with an IRC5 for Mig Welding. I was running a part and I noticed all my Robtargets were off on the Y axis. I jogged to my X1 and X and Z were zero, Y was off 25mm. I checked my various other Work Objects. Every single one had shifted 25mm on the Y axis. Calibration marks line up on the Robot, on my track, and the positioner has not shifted. Has anyone ever seen all work objects shifted in one direction unintentionally? I talked to Lincoln and they said it may be a deep software issue. They had never heard of this happening before.
Check the baseframe in your moc.cfg.
This is the only reference to the base frame I could find in the moc.cfg.
-base_frame_pos_z 1.10032 -base_frame_coordinated “TRK_1” -base_mass 55.1\
and this
SINGLE:
-name “TRK_1” -use_single_type “TRK_1” -use_joint “TRK_1”
-base_frame_pos_z 1.10082 -base_frame_orient_u0 0.707107
-base_frame_orient_u3 0.707107 -use_single_jog "TRK_1
Also, I tried to move my Wobj0 Y vector in a positive 25 mm to shift all my work objects back where they need to be for the parts to run smooth, and none of the work objects shifted. When I programmed in Studio the parent frame is World, correct? When I defined my work object in the cell do I have to specify Wobj0 as the parent frame??
Sorry, it seems that it does not show up in a backup. Look in the pendant for the parameter. There ought to be X,Y and Z components.
Thank you Lemster. I will check that out in the pendant.
Hi Corey.
Regarding wobj0, as far as I know wobj0 is just a wobj that happens to be in ”world coordinate system” origin. Many of us ABB robot programmers (me included) keep referring to ”wobj0” but the correct reference is world coordinate system.
Google ”ABB world coordinate system” and you will find images explaining this.
Moving world coordinate system takes a little backwards thinking. You edit MOC.cfg. E.g. your ”base_frame_pos_z 1.10082” means that your robot foot is 1100.82 mm above world coordinate system. If you change that value to 2.10082, all your wobj will move 1 meter down.
That said, it feels strange that wcs suddenly has been moved. Idéa: Do you have any pdisp in your program? I have never used it myself but I know you can use it to offset robtargets and that it’s easy to mess up your program if you aren’t careful.
/David
Hello Newman…
It has me stumped. The shift is uniform across all work objects. I recently updated to RS 2023.2. That is the only thing I have changed recently. Have you ever heard of a RS update affecting the actual controller? I have used the compare file in RS to compare files from backups as far back as six months ago. I can not find any change in any Data. It has me stumped. I am currently just adjusting all my work objects 25mm on the Y axis. It did not affect any of my service routines. Cut wire, torch clean, nozzle spray, TCP, SpotSense TCP. I use PDispSet in the modules.
Hallo, did you compare your current moc.cfg with one from an old backup?
I did. They are exactly the same.
I’m 99% sure RS update has nothing to do with this.
What about pDisp? How do you use it? I’ve never used it but it looks like all robtargets are effected if used.
It is possible to view the program displacement data. Open datatypes window, view all, select progdisp, and then change scope to Built-In data.
progdisp was all zero’s.
If I apply a displacement to the progdisp does it affect all workobjects?
It will affect all programs until it is turned back off.
OK.
I am moving all my workobjects 25mm on the Y axis. There are workobjects the guy before me created where he flipped X and Y, so that they are perpendicular to the world frame. How come I have to move Y to get it to move in the X direction in the actual cell?
Have a look at this link, it may provide some information.