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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


#9
(07-04-2019, 07:55 AM)baltasar.ls Wrote: 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!

Hello baltasar.ls,

since i have a very similar problem i kinldy wanted to ask if it would be possible for you to send me your modified RDK_DriverSocket?

best regards,
Dustin Hendriks
#10
Hi Dustin,

If you own a professional version of RDK, you can select "Help"->"Request Support" and we will help you with this.
We don't provide our driver source code on our forum for obvious reasons.

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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