Fanuc S420FD Z-axis motion problem

[karevn]

I am a newbie. Today I tried to write TP program for S420FD:
L PR[1] 100 mm/s FINE -- robot moves to a first position
PR[1,1] = PR[1,1] + 300 
L PR[1] 100mm/s FINE -- robot moves a tool 100mm along X axis. Tool orientation remains the same it was on first line.
PR[1,2] = PR[1,2] + 300
L PR[1] 100mm/s FINE --everything is OK too.
PR[1,3] = PR[1,3] + 300
L PR[1] 100mm/s FINE -- I expect the robot to move a tool along Z axis (i.e. 300 mm upward), and expect a tool to maintain the same orientation it was. But the tool rotates as if I additionally rotate J5 axis in + direction.

(I can draw a schemas if this description is unclear)

So it looks like "j5" axis compensation works incorrectly (it adds a compensation angle instead of subtracting it).

Could someone tell me what happens? Now I think that incorrect software version is installed (I have 3.07PD)

Thanks a lot, sorry for my English.

[Vlad]

Karevn,

if i were you i would check if the robot is correctly mastered. Then i would check if the system software is correct looking at the STATUS manu in VERSION ID pege.

Another test is jogging each axis  in joint mode and verify is the value in POSITION menu correspon to the real robot position.

Regards,

Vlad

[karevn]

The robot was mastered using "zero position mastering" procedure. Is it enough?

[karevn]

A chema is attached.

[Jim Tyrer]

Zero pos mastering should be fine if it's done properly.
  do the motors sound noisy/whiny at all? If so it might mean that the controller has something wrong with the servo tuning files.
If can jog along the major axes in straight cartesian lines, then the bot should be ok.
I once restored a R-J3iB from the wrong PC card and ended up with a very weird bot that thought +X was down at an angle toward the floor, and left, and upside down...and sang like a wild cat in tin can.

[Vlad]

If you mastered the robot as in the attached pic, it's correct,

if you move each axis in joint mode of 90 degs, does the arm position correspond. I mean , if you jog of 90 deg J1, the position shown in POSITIONmenu, correspond to the travel?

Regards,

Vlad

[karevn]

to Vlad: Thanks. I'll test it tomorrow. The robot I deal with is in other city :(
to Kim Tyrer: I ran through a mastering procedure after uploading a software. But I am not sure if the software version is correct. Motors' noise is of very low-volume, and I thing that mechanical parts are OK.

[karevn]

Yesterday's tests were very information-full :)
I tried to load a software for S420F instead of FD. Now there's a one another problem:
During installation I selected "high-speed" wrist type and now when I rotate J6 to 90-degree angle (real angle), robot thinks that the angle is about 160 degree. I think that I actually have "high-torque" wrist. Can someone tell if this is a good idea?