Author Topic: Motoman UP6 Cartesian  (Read 662 times)

Offline wavemill

  • Newbie
  • *
  • Thank You
  • -Given: 4
  • -Receive: 0
  • Posts: 36
Motoman UP6 Cartesian
« on: July 25, 2011, 03:09:03 PM »
Dear,

Im' a  newbie, in robot and I searched without success.
I have an UP6(xrc2001) with a table in the same axis.
I would like that my torch are always parallel and perpendicular to  my table in each movement X,Y,Z.(like cartesian)
I tried user coordinate and much more without success.

Hope you could help me!

wavemill

Online Fabian Munoz

  • Administrator
  • Hero Member
  • *****
  • Thank You
  • -Given: 32
  • -Receive: 191
  • Posts: 1294
Re: Motoman UP6 Cartesian
« Reply #1 on: July 25, 2011, 03:59:37 PM »
Hi First thing comes to mind is to use Position Variables.   Write and teach a prog using them, then go to the x,y,z values and make them all the same.    Something like

You have
P001  132, 54, 66, 15.03, 89.99, 0
P002  145, 63, 30, 14.76, 91,1, 0
change to
P001  132, 54, 66, 15.00, 90.00, 0
P002  145, 63, 30, 15.00, 90.00, 0

No all your points have the same angle.
I don't any idea about your application, but you might encounter limit error messages, singularity issues, sudden motion
somar

Offline wavemill

  • Newbie
  • *
  • Thank You
  • -Given: 4
  • -Receive: 0
  • Posts: 36
Re: Motoman UP6 Cartesian
« Reply #2 on: July 25, 2011, 04:37:08 PM »
thank your for your reply.
I think my question wasn't very accurate.
It's for welding.
When i use the robot in manual(teach lock, switch on)when i press x or y or z, i would like that the movement are  parrallel or perpendicular to my table.

If you have an idea,

Regards,

Wavemill

Offline Robo Guru

  • Hero Member
  • *****
  • Thank You
  • -Given: 1
  • -Receive: 68
  • Posts: 665
Re: Motoman UP6 Cartesian
« Reply #3 on: July 25, 2011, 05:41:17 PM »
You need to create a user frame on your table.

You then need to select the user frame when you are jogging your robot.

Simply selection world/cartesian will not suffice.   You need to select the UF# created for your table.

This will move the robot in the same plane as your table

RoboGuru

Offline wavemill

  • Newbie
  • *
  • Thank You
  • -Given: 4
  • -Receive: 0
  • Posts: 36
Re: Motoman UP6 Cartesian
« Reply #4 on: July 25, 2011, 06:11:34 PM »
thank you for the reply.
I understand now
But it's a used robot and a used table that i have bought, it wasn't together in the past and i have to create a user frame.
How can i create a user frame, i search in the doc, but there isn't any good explanation.

thank you for your help

Wavemill

Online Fabian Munoz

  • Administrator
  • Hero Member
  • *****
  • Thank You
  • -Given: 32
  • -Receive: 191
  • Posts: 1294
Re: Motoman UP6 Cartesian
« Reply #5 on: July 25, 2011, 10:14:42 PM »
Do you have manuals ?

Check under User Coordinates Setting


somar