mastering not propper

[rupy]

Hi,
We have Arc mate 120IB with R30ib controller.
The problem is when we teach two points with Linear path at a distance of 500mm
and run the program then robot moves 5mm ahead of the taught point.

Can you help us.

Regards

[Huddy]

Hi I would suggest making sure you are using the correct tool centre point and that the TCP is setup correctly.

[raycor]

Hi, I agree that maybe the TCP is setup incorrectly, but other times, when the gear of an axle is damaged the robot allways isn't going to stop at the position that you want, this problem I had once with an Arc Mate 100iC or 100iB (I don't remember) and the problem was that the gear of axle 2 was damaged, then to detemine that the axis 2 was damaged I look at all the axis,  first, you need to move the robot in some positions where the axis can load all the robot weight, so you have a bigger lever arm, the you need to push or pull the robot so there you can see the movement of the robot

[Robotter]

Alternately The absolute calibration of your robot might be wrong
Mastering may be incorrect
The controller software (if tampered with) may be incorrect - in other words an image backup of another robot with different mechanical unit may be loaded.

Can you let me know the Cartesian World frame coordinates (XYZWPR) of the robot when the robot joints are in zero position? 

[rupy]

Hi,
can you guide me how to look for the cartesian coordinates when the robot is in zero.

[Robotter]

see The position screen when all the joint values are in zero .

select  the world coordinates for display

[Luke]

Please elaborate on the history of this mechanical unit.

Same controller you have seen running in the past, not recently relocated, level floor, etc?

If this is a new unit, do all paths play back badly (ie call for 500mm in World, not moving exactly 500mm).

Mastering is key for accuracy. Status->Position> in Joint drive all axis to zero if possible. How does the robot look?
Comparable with manuals? Calibration marks out? Does the robt have a "Zero" or "Zero Angle" process you can test?

Luke

[rupy]

Hi guys,
Thanks for such a great response and sorry for my late response.

The history is like this:
Batteries of the robot gone bad and then we replcae the batteries,by switching the power off(this is our mistake)
After that mastering problem occured.We remaster the robot and from there this problem is continuing.

I will update you about the about the cartesian coordinates by next week.

Regards