ABB Work Object

alright so in the last video we went over tool data and how that adjusts the point at which the robot calls zero zero zero basically so where are the tip of the end effectors up to this point we had been dealing with the tip of the end effector as far as a robos been concerned with the center point up here where that magical green red and blue line you know come in now we just changed that point in space down here to this point at the very tip of our tool that we have a little vacuum called copper as far as we're concerned and if you have multiple tools on one tool for example if I bring in this ABB smart gripper and let's go go ahead and give it everything we can go better than that well to stick with that if we do that you can see that this actually has multiple tool data so we have the one for the end effector itself we have the one for the suction cup and then we even have tool data for the camera that is mounted to it so you can have multiple tool endpoints on the same end effector which is really neat and the big benefit there is if you tell it that that point is the suction cup and you'd say go pick up the block the suction cup it would put that point you know dead center on the block if you then told it to use the other tool say the gripper it would put the center of that rate at the center top of the block so when you close the call or the gripper it would then pick up the block alright I haven't forgot how to make that in simulation work yet which is the only reason we haven't done it when I do try it kind of freaks out and all sorts of wonderful things happen so that is why we haven't used the claw yet for grabbing the blocks so just so you guys know but anyway so that is tool data now we need to work on our work objects and what our work objects is is another coordinate based system so right now when as far as the robots concerned zero zero zero is you know probably at the center of the robot space all the way back there as far as its concerned that is where a000 is however there are times where having a work object or zero zero zero point makes our life a lot easier and this is the case where you have had you have the same robot feeding multiple station so let's say you had the robot feeding multiple CNC machines all around it and putting parts into it having a work object for each CNC machine allows you to write your code once and then say basically hey load it into robot a or CNC machine a and the robot would go okay that's this work object and it would then be able to place the piece and a and then say okay now move it from work object a to b and it could then move that part without you actually having to program any new points as long as all of your work objects are exactly the same and again in an ideal world you would be taking lots of measurements and making sure that everything is actually you know correct and you'd be programming that in and a not so ideal world we can use the robot to teach those specific work objects and we are going to go ahead and do that now all right so one thing that I found is you a you want to make sure that your robot can actually be able to reach all your points ideally without changing the end-effector location I don't think it actually matters but ideally you want to make sure that your robot can reach this multiple points there's three of them too without changing how the end effector angle is so ideally without having to do over reorient so in our case we're going to use this brown box with a little green part on it all right we're gonna start at that point closest to the robot that's going to be our x1 location we're gonna come out here to our second point which will be our x2 and then we're gonna come out here - I believe it's called y2 all right so in the robot I'm gonna just make my life bit easier by being able to just drag the robot just to do a quick check to make sure that this orientation of the gripper is able to actually reach all of those points and right now this can be really ruff about it and again normally you'd be doing this with the teach pendant and whatnot and we will actually get there to doing it with the teach pendant but I figured for me since we're doing the simulated and it's so hard to judge all the different angles and go yeah okay that's good that's good I'm just gonna use the little drag tool so that looks like it will work just fine we can't believe we could probably even reach the fourth point if we needed to all right so we could get to that fourth point if we needed to now I believe we have a problem however I can't go for my fourth point back to my first point there is a hard limit there one of the joints is not happy so we can reach all the points but we had have to kind of go around it that way of getting there now to make this easier I have found that if you can orient your tool also in a way that it is basically lined up with the object that way you can use the jog command much simpler all right so and what I mean by that is let's go ahead and bring our our object in so you can see I already created it once but we're gonna go ahead and do it again so if we go with the world or base whichever one you want alright and I try to drag this you know everything moves 90 degrees well if you noticed this object is not at 90 degrees it's a slight angle which makes it really kind of annoying for me to go okay I gotta alright well just slowly keep trying to position this and again your goal is to as last time get it as close to that corner as you physically can all right so we need to go down just a bit more and then this way and I think I'm gonna call that one good all right we're a little high but that's alright we'll just always try to be a little high anyway so we can go to program data we're gonna say new I'm gonna call this brown box one which is fine I'm gonna get rid of my my capital over there and we're gonna go of course do edit and define just like we did with the tool now our user method we're gonna make that three points that's the only option that we have all right I notice we have an X 1 X 2 and the y one so this will be an X 1 so just click on it just like we did last time with and then we'll say modify position and then we're gonna go back to jogging now I am still in world mode all right and I'm gonna cheat here a little bit all right sorry about that I'm gonna cheat here a little bit and we're going to save this point as well so let me go ahead and cancel that and this is just for my purposes of showing you what I'm talking about so we will just create a new point here p10 is fine all right so we've got my point there now let's go ahead go back go back to my work object go back to brown box 1 we're gonna define that again 3 points modify 1 so since i'm in world or base mode right and this is not perfectly square i need to come towards me which is to the left and then i asked it and have to come back to you know ii i kind of constantly have to do this little like back and forth and back and forth game to get there all right and as you can see i'm getting it getting there all right and this time we are pretty much dead on the top which is fine all right and now we need to move back towards me a little bit more that looks oh we went too far so we can go ahead and go back just a little bit and again if you need to change your mode so that way it moves smaller increments and we can say modify position to for that now as you saw I had to do XY XY XY XY XY maybe you'd have to Thurston Z in there to you know to get there so it would make your life kind of easy now my little cheat here is I go back to this position you know as I was running like in a beautifully straight line so my little chick here is because we are doing this in the simulated environment and we have these colors sticking off you Center that alright I am going to attempt to orient this so the green line is parallel to the axis I want and the red line is parallel to the other axis of that brown box so we're gonna go in to reorient mode there we go see how we're doing I'd say we got one a little bit too far there okay how you can see that we're a little bit too far down now so we got to bring that back up and this is always the game has to play when I am doing this type of thing all right so you can see we are pretty darn close to you know everything being nice and 90 degrees now blue line does disappear into the box a little bit that'll be alright but anyway now what you can do and we'll go ahead back to our program Dave let me go ahead and modify my position one again is when we're jogging instead of jogging about the coordinate system for the sorry let's get back into linear mode instead of going by the court in we can go to the tool mode make sure you have your new tool that created that you created her down here otherwise it's gonna be based on up there but now we can very easily Oh helps if I pick the right access right and the right direction you can now very easily almost just kind of move directly linearly and look how close that got us all right now we are a little high because my z-axis will everything was just a little bit off but if I would have taken a little bit more time to make that a little bit better I wouldn't have to do any other adjustments so I wouldn't have to go oh I got to go down you know whatever so that little bit of reorientation just made this job so much easier for me so I highly suggest especially since we're in the simulated environment you go ahead and take advantage of that all right then we can call that point - so we'll modify that one again now we need to go grab our Y alright and we're gonna hold it this way yep and again we're just going to send our tool all the way up to that last position right yeah I'm great go on the runway at these things all right and as you can see we're basically spot-on we can modify our live session we say okay and it calculates our new XYZ force we can go ahead and okay and now if we go back to jogging we can now go ahead for our coordinate system say our work object go ahead and say okay and let me go ahead and give a nice little example here so let's go back to our program data will show off that tool tool object as well so Rob target we already had p10 Save let's go ahead and save this one that's P 20 that is fine but anyway now that we are in our jogging option all right and we have selected that work object and it did all the hard math for us in theory it doesn't matter what orientation our gripper is in so let me just go ahead and screw up the angles here so you guys don't call me a liar so now if we were based on the on the tool we'd be kind of coming off this way and Z would be all funky but anyway if we go back to linear we say work object our object is brown box one the one we just created now when I do my Z motion you'll see that that almost perfectly follows the edge of that box and isn't that nice and again you could put multiple of these boxes out there so if I did that it copied and pasted curve thing let's go ahead and copy that let me go ahead and paste it so I get it multiple curve thing anyway I can put another one of those in this way here we go position position oh there we go we're way up high that's why I'm having problems but anyway if I had another one of those over here I could teach it that work path as well and everything would be fine and dandy now the other thing the interesting that's look at is if you look at where we are right now we are at zero zero zero as far as the robots concerned so once you teach it that new work object out there that point would be zero zero zero so everything is the same and we can go ahead and do a new point P 30 we can go ahead and go okay now let's go back and throw this off for a crazy party good enough I got a tool zero notice how we're not at zero zero zero anymore if I do my go-to and I say P 30 now obviously this is a simulated environment so we can do this but it will now perfectly follow with that magical point in space alright so by setting up those work objects and those tool data it's not happy about that one huh P 10 is not happy about interesting I guess that was not based off the work data our work object that was based off of that magical point in space according to the base so if I go back to my work object and that's like world and I hit go to now and I say P P 10 it should have taken us to where we wanted to go anyway you guys can see having that work object set up and saving your points in relationship to that work object that is key will make everything so much nicer and makes it easier to repeat things so I can tell you guys stacks 5 of these blocks on this one in a tower and five of those blocks on this one in a tower and all you'd have to do is change your work object once and you would have your code working beautifully so do you guys have any questions about this please let me know but overall that is how you can create a work object using the robot teach pendant

Channel: BME Teaching

Views: 1,719

Keywords:

Id: Qgij4_uiyGE

Length: 16min 51sec (1011 seconds)

Published: Sat Apr 04 2020