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ABB external axis
#1
Hello,

I have a robotic cell configuration with an ABB 6-axis robot and a 2-Axis turntable integrated in the same controller. I want to know if there is a driver and api available to work online with the turntable, since the version I have of RDK_DriverSocket sends the 6 positions of robot joints, but it does not implement external axis.

Also, the axis ID number of the turntable are 8 and 9 (7 is reserved for a linear track which is not currently integrated). Although I can change this in the ABB postprocessor for offline programming, Is there a way to specify the ID of the turntable axis in the Robodk configuration?

Thanks!
#2
Have you figured this out?

I have the same problem but with my Kuka 6-axis robot and kuka external axis.
Both are connected to my KRC4 cabinet and i want to use them online.
#3
This requires customizing the robot driver to properly map your axes to the correct index in RoboDK. It is better if you send us an email for this.
#4
Hi everyone, i have similar question, im using abb 1520id robot and irbp-a250 positioner. Robodk's abb post proccessor export the external axis values "[0.000000,46.466600,9E9,9E9,9E9,9E9]" in wrong order. It writes as first two elements but my controller reads this format "[9E+9,0,46.466600,9E+9,9E+9,9E+9]".

Here is RoboDK posted

Code:
MoveL [[372.473,368.917,15.000],[0.00000000,-0.91186237,-0.41049605,0.00000000],[0,0,2,0],[0.000000,46.466600,9E9,9E9,9E9,9E9]],[25.00,500,5000,1000],z1,torche \WObj:=Frame4;
 
Here is how i need

Code:
MoveL [[372.473,368.917,15.000],[0.00000000,-0.91186237,-0.41049605,0.00000000],[0,0,2,0],[9E+9,0,46.466600,9E+9,9E+9,9E+9]],[3.33,500,5000,1000],z1,torche \WObj:=Frame4;

How can i fix this? Thanks!
#5
(04-19-2021, 12:04 PM)ganimelikonder Wrote: Hi everyone, i have similar question, im using abb 1520id robot and irbp-a250 positioner. Robodk's abb post proccessor export the external axis values "[0.000000,46.466600,9E9,9E9,9E9,9E9]" in wrong order. It writes as first two elements but my controller reads this format "[9E+9,0,46.466600,9E+9,9E+9,9E+9]".

Here is RoboDK posted

Code:
MoveL [[372.473,368.917,15.000],[0.00000000,-0.91186237,-0.41049605,0.00000000],[0,0,2,0],[0.000000,46.466600,9E9,9E9,9E9,9E9]],[25.00,500,5000,1000],z1,torche \WObj:=Frame4;
 
Here is how i need

Code:
MoveL [[372.473,368.917,15.000],[0.00000000,-0.91186237,-0.41049605,0.00000000],[0,0,2,0],[9E+9,0,46.466600,9E+9,9E+9,9E+9]],[3.33,500,5000,1000],z1,torche \WObj:=Frame4;

How can i fix this? Thanks!

I solved this, found an abb post in forum and modified it. Current ABB post cannot be modified. I have a dream that one day all robot posts will be modifiable
#6
Quote:I solved this, found an abb post in forum and modified it. Current ABB post cannot be modified. I have a dream that one day all robot posts will be modifiable

The posts are modifiable, just need to ask the rdk guys for the uncompiled version
#7
(04-20-2021, 04:28 PM)colinb83 Wrote:
Quote:I solved this, found an abb post in forum and modified it. Current ABB post cannot be modified. I have a dream that one day all robot posts will be modifiable

The posts are modifiable, just need to ask the rdk guys for the uncompiled version

Thanks @colinb83 for info. @Olivier @Jeremy @Albert, can you provide me uncompiled version (v38 would be best) of latest ABB IRC5 post?
#8
@ganimelikonder , as Albert mentioned, it's better if you send an email directly to RoboDK for your post-processor.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


  




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