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Modifying Post for ABB Welding

#1
Code:
MoveL [[1162.24,-603.42,460.56],[9.67765E-06,-0.733974,-0.679178,4.79637E-06],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00354994,9E+09,9E+09,9E+09]], v1000, z50, tWeldGun;
ArcLStart [[84.17,-324.85,66.85],[0.00302919,0.0331388,0.999446,0.000592312],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00354994,9E+09,9E+09,9E+09]], v1000, seam1, wd_Pass2\Weave:=wv_Pass2, fine, tWeldGun\WObj:=wobj_STN1;
ArcL [[-86.53,-326.85,68.19],[0.00302238,0.0331357,0.999446,0.00058918],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00371873,9E+09,9E+09,9E+09]], v1000, seam1, wd_Pass2\Weave:=wv_Pass2, fine, tWeldGun\WObj:=wobj_STN1;
ArcLEnd [[-93.53,-326.85,68.19],[0.00302238,0.0331357,0.999446,0.00058918],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00371873,9E+09,9E+09,9E+09]], v1000, seam1, wd_Pass2\Weave:=wv_Pass2, fine, tWeldGun\WObj:=wobj_STN1;
MoveL [[1162.23,-425.72,472.76],[2.40524E-05,-0.733962,-0.679191,1.73687E-06],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00363434,9E+09,9E+09,9E+09]], v1000, z50, tWeldGun;
Stop;

I'm trying to create a custom post for ABB Welding that initiates a ArcLStart for the first point then ARCL instructions ending with an ArcLEnd.  Any suggestions would be appreciated. Sample code I'm trying to generate above.  Thanks!

.py   ABB_RAPID_ARCL.py (Size: 44.89 KB / Downloads: 132)
#2
Hi Stefanie,

I attached a post that will allow you to have the target data inline with ArcLStart and ArcLEnd.
Let me know if you need any other changes. We'll make this post the default post in future installs.

Albert


Attached Files
.py   ABB_RAPID_IRC5.py (Size: 45.58 KB / Downloads: 584)
#3
Hi,
I modifying a post processor for ABB Welding and I wonder, in what order the procedur will be excecuted in my Program module. For example I had on top of the module procedure with movement and operations (subprograms), bottom I have a Proc Main where the top procedure is called. So, that procedure on top will be executed first and then the Main ? How do I know what procedur will be executed first? I need to set something on robot controller or something like that? In attach an example of code.

Piotr


Attached Files
.mod   MainProgram.mod (Size: 10.14 KB / Downloads: 436)
#4
Hi Piotr,

The robot controller should be able to find the "Main" automatically when you select "PP to Main" on the teach pendant. I don't think it matters where the actual "Main" is.

Jeremy
#5
(10-30-2019, 02:11 PM)stefaniepender Wrote:
Code:
MoveL [[1162.24,-603.42,460.56],[9.67765E-06,-0.733974,-0.679178,4.79637E-06],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00354994,9E+09,9E+09,9E+09]], v1000, z50, tWeldGun;
ArcLStart [[84.17,-324.85,66.85],[0.00302919,0.0331388,0.999446,0.000592312],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00354994,9E+09,9E+09,9E+09]], v1000, seam1, wd_Pass2\Weave:=wv_Pass2, fine, tWeldGun\WObj:=wobj_STN1;
ArcL [[-86.53,-326.85,68.19],[0.00302238,0.0331357,0.999446,0.00058918],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00371873,9E+09,9E+09,9E+09]], v1000, seam1, wd_Pass2\Weave:=wv_Pass2, fine, tWeldGun\WObj:=wobj_STN1;
ArcLEnd [[-93.53,-326.85,68.19],[0.00302238,0.0331357,0.999446,0.00058918],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00371873,9E+09,9E+09,9E+09]], v1000, seam1, wd_Pass2\Weave:=wv_Pass2, fine, tWeldGun\WObj:=wobj_STN1;
MoveL [[1162.23,-425.72,472.76],[2.40524E-05,-0.733962,-0.679191,1.73687E-06],[-1,-1,1,0],[9E+09,-9.02537E-05,0.00363434,9E+09,9E+09,9E+09]], v1000, z50, tWeldGun;
Stop;

I'm trying to create a custom post for ABB Welding that initiates a ArcLStart for the first point then ARCL instructions ending with an ArcLEnd.  Any suggestions would be appreciated. Sample code I'm trying to generate above.  Thanks!

As I recall the ABB Arcware software uses a /On and /Off argument to start and end welds. they can be added to any move instruction. Calling the arc instruction switches the motion handling over to the arcware parameters as configured in your .proc settings.

im trying to get this issue resolved myself actually.
#6
Do you have a sample project you can share? I recommend you to contact us through our contact form:
https://robodk.com/contact

@Sergei will get in touch with you as we are currently developing an addin specific for welding and we can make sure it fullfills your needs. We can also help you customize your post processor for welding.
#7
(10-31-2023, 10:59 AM)Albert Wrote: Do you have a sample project you can share? I recommend you to contact us through our contact form:
https://robodk.com/contact

@Sergei will get in touch with you as we are currently developing an addin specific for welding and we can make sure it fullfills your needs. We can also help you customize your post processor for welding.

Fantastic! actually I only found this reply by looking over my personal information in the forum settings, strange. Ill try to get in touch with him but if you can forward my email that might help tremendously

Cheers,
MW
  




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