ABB Tool Data

in this week for a robot studio we will be talking about how to define a new tool so when you rotate around a point your tip stays right where you want it instead of you having to reposition it every time alright so as you can see here normally we'd be rocking this magical point up here in space all right that is where tools 0 is on the robot before you you give it any tool data now ideally you would create a tool in the simulation and you would be able to tell it the exact information about where this point is which we do actually have so if I move this up into magical space there we can go you can see there is actually tool data specific for that point right the center of that but we have never loaded it actually on the robot controller what we're going to do today is we're actually going to attempt to define that point on the robot end effector using a tool built on to the teach pendant now the first thing that you will need if you're doing this in the simulation is a point to reference if you're doing this in the real world you'll still need that pointer reference however in the real world I normally put a pen or something sticking up or chopstick or something and it has a very fine point to it in this case since we are in the simulation we're going to be dealing with that magical point on the end of that other end effector that I just put in so that magical point where that blue green and red line come in that's gonna be our point that we're going to try to get a very tippy top of this to be at every time we save a new point now to do this we will first need to have we're about studio opened obviously you will need to be in manual mode make sure you have enabled the device so it shouldn't say it should say released device here if you have already done that you will also need to open up your teach pendant now let's go ahead and reset this back to my home position so we're starting up nice there we're gonna have to go ahead put it back at manual motor this set and make sure I've enabled that device now as you can see here we are I do have my tool one that I just created but we're gonna go ahead and make another tool we're gonna actually give it a real name this time so what I need you to do is on the teach pendant itself go ahead and click the menu top-left corner and go to program data now we are going to be creating tool data so we're gonna have to go to the tool data screen and go ahead and hit show data and here we can see the two different tools that we have now the first thing we need to do obviously is create a new tool so we're gonna go ahead and create one I'm gonna call it vacuum now the scope you do have tasks you do a global local whatever you want to choose for our purposes today I'm just going to leave mine at task that is where we started now in an ideal world you'd be able to say initial value and you'd be able to type in your X Y or Y and your Z coordinates as well as your Q values and you'd be good to go however most likely you don't know that data if you're going this route so we're gonna just doesn't like let's go ahead and hit cancel and then go ahead and hit OK vacuum tool all right make sure you pick a name that is happy with now we need to define this so make sure you have vacuum tool selected go ahead and do edit and define now the method we are going to be using today is the TCP method and TCP is your tool center point so that is what we are going to be training it there are TCP and Z and TCP and Z and X we're just gonna go with the default option and we're gonna go ahead and be a little lazy today we're gonna drop it down to 3 in theory the more points that you use the train this the better off it will be because it'll be able to average out your error is a bit more however three is the minimum number that you need to use and what we're gonna do now is you were going to manually move the tip of this to basically be at the tip of that now starting off where I did there we go alright let me go ahead and a view Center there alright so we can kind of cheat right off the bat we are aligned perfectly in the one axis which is nice alright so we can go ahead to our teach pendants we can go to the jogging screen make sure you're in a motion mode that you are happy with and we can go ahead and in theory just move this straight down and in until we get this as close as possible to that other tip now when I did this earlier it got mad because we got this joint a little bit too close what they call singularity everything it's too straight and aligned and it causes problems so I'm going to cheat that a little bit here we're gonna go into joint mode that is joint 5 that I want to change and we're just gonna bend that down real good and I want to do it that way instead of bring reorient mode because I didn't want to accidentally go left or right or anything so now we can go back to our dziak our linear junk and we can work on that perfectly lined up and yeah this is a bit of a back and forth and a back and forth and a back and forth and it gets very annoying but that's just the way the game goes the real world working with actual robots this is a bit nicer as you can see I am pretty stinking close I don't know how close I am but I would guess I'm within a few millimeters so I'm gonna call that one good enough and on the teach pendant you're gonna go back to program data point one and then say modify position now we need to do this two more times and ideally you want these like 120 degrees out of phase from different angles so while our first one is perfectly vertical if you want to do your second one like perfectly horizontal or even coming from like angling up towards that point whatever way you want to do it the farther apart these are the better off we're gonna be so how I like to normally do this is I will come down back into my junking go in to reorient mode which remember we're reorienting around the end of the actual robot right now and I like to just kind of give that some some twisting action oh where I'm cheating alright that's alright I'm using my tool one right now so but if you you know if you were in which you guys have tools Eero so when you do your reorient it's going to come on there we go it's reorienting around this magical point up here so you can see that's how it normally would happen is your stuff would become off-center so now you have to get that all lined up again so we're at some a much different angle I like to look at the robot straight on if I can figure out how to do this all right so nice straight on and then I'll bring this back up make sure you go back to XYZ mode and then I'll normally try to get two of my axis is lined up as close as I can to much feel free to go to slow mode if you want or medium speed or whatever all right now that I've gotten that one I'll just rotate straight tell them the other direction it's a non theer I have two of my three accesses make sure you click the right axis when you're changing I'm gonna go down a little bit more and again because we're a simulation we can crash the robot in the actual world like you know if those are touching we're actually doing our job per se and again you can see we are very stinkin close alright we're gonna call that point good for option two so we can go back to program data point to do our modify position and do it again so we need to drag our robot to some other crazy location all right so we can just go to reorient mode maybe let's see my robot at the same time and we'll take this oh that looks good all right so that looks like a good option everything's kind of screwy and again I will look straight down on the robot go back to linear mode jog it sideways I'll jog it down again try to get those two accesses lined up as perfectly as I can by looking straight on which oh man I'm feeling pretty good about both of those at this point all right and then again I will use Center there rotate it so inferior all I have is one axis left to fix and I'll slide it back now as you can see for me doing this I was way off into Z and I mean way off in the terms of being super zoomed in all right not as close as I want to be yet so we can go ahead bring that back a bit more bring that down all right and again just keep kind of getting closer and closer you can see I'm actually I'd be hitting if I was in the real world right now wrong way and again that looks really good so we can go ahead and call that point three we've got our three points now again the more you do the better off you are but three will work we can go ahead and hit okay and it's gonna take a second to process and you can see how it says our max our our minimum or our maintainer and it tells us all that so where max error was one millimeter off I'm calling that that perfect all right you don't want to see that number too big otherwise it's not going to rotate nicely around them now if we scroll down we can see it tells us our X and our Z how far off we were in those accesses and we can go ahead and say okay now we still do need to go into this and change our value alright notice it gives us so our x y&z how far we were off and this one's perfectly fine however we still need to make sure that we tell it what the mass of this end effector is now anything over zero and it's happy ideally you would put what the actual end effector weighs obviously in our simulation we have no clue how much that weighs so we're just gonna give it a value of 1 and go ahead and hit OK for that and then okay so now if you go to your jogging screen when we go to reorient mode and we go to our tool we go to our vacuum tool you can go ahead and hit OK and in theory if we reorient this you should see those points basically touch the entire time so no matter where I reorient this and if we really crazy thing that I like watching us watch the robot as I do this it's moving in and out and rotating and you know it's not a simple move anymore it's not simple oh we just rotate this one access no it's everything is changing as we reorient things but that magical point in space isn't in theory not changing all right again this is not a perfect option but it is pretty stinking close when it comes to getting a tool up and running and the wonderful question always comes down to is what type of accuracy do you need for that if we go back to our simulation on our simulation art trainer we have in the robotics lab where it physically is rotating that disk in space over a sensor and we need to make sure that it's finding that hole and whatnot maybe that becomes a bit more important where if all you're trying to do is just get your air suction cup so you know roughly where the center for that suction cup is when you're trying to pick up your box then this is accurate enough for our purposes so one of those things to think about but overall that is how you teach a teach an ABB robot about the tooling that it has

Channel: BME Teaching

Views: 3,458

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Id: l83fSt12-40

Length: 13min 20sec (800 seconds)

Published: Fri Apr 03 2020