DXF image from GMODEL
Example 2 - Sanitary Ceramics Polishing using and
IRB24000 Robot
The ROBOT3D system was used successfully in a
polishing application using IRB2400 (s4) system.
Initially the ABB IRB2000 (s3) was used to acquisition of 3D (x,y,z
coordinates and positioner angle) data for the sanitary ceramics parts, using a
contact sensor. Data has transmitted by the ABB DDESERVER to a host computer.
The robot scan the surface using a parallel/ meridian technique.
The data collected was then manipulated in order to establish a 3D DXF model
using 3DFACES entities and a prototype program in ROBOT3D neutral language for
polishing using a specified pattern. The software module GMODEL running inside
ROBOT3D generates the DXF model and the GPROG generates the prototype program
and locations to ROBOT3D according to the normal to the ceramics part surface.
From the 3D data table the developed software modules were able to produce an
native program immediately without any intermediate step.
Based on the prototype neutral work program ROBOT3D was able to generate code
for ABB IRB2000 (s3 - ARLA ) language and ABB IRB2400 (s4 - RAPID).
S3 program was downloaded to IRB2000 with OLP3 ABB robotware and polishing
test was performed with success.
The ROBOT3D was also able to make programs to scan the surface and to perform
program manipulations take in consideration the different tool frames between
the two robots and different positioner placement and orientation.
The ROBOT3D was also used to mirror and rotate the programs.
Study of a complete workcell layout including a IRB2400 and a 2 dof
positioner was also performed with ROBOT3D.
At the final end CTCV - Ceramics Institute, Coimbra, Portugal was able to
offer a complete lowcost system for ceramics polishing using data acquisition
and robot simulation and programming by ROBOT3D.
Listing of generated S4 polishing robot program:
PROC main() ENDMODULE
%%%CTCV as 1 running licences of the software.
VERSION:1
LANGUAGE:ENGLISH
%%%
MODULE
FIN5_1S4
VAR robtarget p1;
VAR robtarget p2;
VAR robtarget
p3;
VAR robtarget p4;
VAR robtarget p5;
...
...
VAR robtarget
p160;
VAR robtarget p161;
! CTCV - PROTOTYPE PROGRAM
! (C)
F.FERNANDES
p1:=[[0.00,0.00,0.00],[1.00000,0.00000,0.00000,0.00000],[-1,-2,-2,0],[0.00000E+00,0.00000E+00,0.00000E+00,9E+09,9E+09,9E+09,9E+09]];
!
OPCAO 3 - OSC. HOR.+ZIGZAG
! MERIDIANO
0
p2:=[[1447.50,-0.00,941.90],[0.03895,-0.71073,-0.03947,-0.70128],[-1,-2,-2,0],[0.00000E+00,0.00000E+00,0.00000E+00,9E+09,9E+09,9E+09,9E+09]];
MoveL
p2,v150,fine,Tool;
p3:=[[1452.40,-44.00,941.60],[0.10526
,-0.70826,-0.10810,-0.68964],[-1,-2,-2,0],[0.00000E+00,0.00000E+00,0.00000E+00,9E+09,9E+09,9E+09,9E+09]];
MoveL
p3,v150,fine,Tool;
p4:=[[1447.90,-0.00,971.80],[0.04170,-0.71750,-0.04312,-0.69397],[-1,-2,-2,0],[0.00000E+00,0.00000E+00,0.00000E+00,9E+09,9E+09,9E+09,9E+09]];
...
...
p161:=[[1552.10,-131.30,940.60],[0.37598,-0.60683,-0.39418,-0.57881],[0,0,0,0],[0.00000E+00,0.00000E+00,0.00000E+00,9E+09,9E+09,9E+09,9E+09]];
MoveL
p161,v150,fine,Tool;
ENDPROC
DXF image from GMODEL
IRB2400 Polishing Simulation
Example 1 - Bisiach & Carru Robot