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Stationary Tool & Wobj Setting - ABB Robotics User Forums
Stationary Tool & Wobj Setting - ABB Robotics User Forums
Stationary Tool & Wobj Setting - ABB Robotics User Forums
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Method: 1)Create Tool data-- robhold: False, input pos & rot data x,y,z from clicking
"place" of part named Gun. (set as UCS: IRB6600_255_175)
JK Hwang38418,1479050926
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Hi Hwang,
In RobotStudio there is a demo station with a stationary tool in it, so I'll use that as an
example.
File>Import>Program
sGlue.prg
As you can see the robot picks upp a 'cover' which it then goes to the stationary glue
tool with.
So look in the station at the tool and at the wobj, and also at the RAPID code.
OK, so that's how it should look like, here's how you do it:
Create a work object, just give it a name and set it as active but don't change any of the
values.
Say Yes, this will place the Wobj at tool0 which is exactly where we want it to be.
Now you are ready to create the targets directly on the workpiece.
image
image
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PS
Remember that when working with stationary tools stations you need to switch the
active tool and workobject to tool0/wobj0 to be able to MoveToHome etc, since that
can't be done in the fixed tcp or the moving wobj.
DS
John
Developer Center
Ok. I've been through the instructions in the on-line manual, I've been through the off-
line manual, I've followed your instructions exactly.
Error message:
I keep checking my remote tool. The value for robhold doesn't stay 'False'. It keeps
switching it back to true the instant I click OK. Why? How do I overcome this?
Lisa Cardon
Hi Lisa,
I am asking because we had a bug in RS 3.1 that caused the problem you describe. This
bug is corrected in RS 3.2. If you are running RS 3.2 e-mail me your station and a backup
of the VirtualController, so will I take a look at it and see if I can find the problem.
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E-mail: anders.spaak@se.abb.com
Best regards,
Anders Spaak
ABB Robotics
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