Help programming on a XRC

[Rip]

Hello everyone,

       I am new to programming my motoman robot. I have never had any formal instruction with programming. Have taught myself by reading and using these forums to look things up. I have a Yasnac XRC controller  with a motoman UP6.

   My robot is used to grit/clean on parts. We have a rack that we hold the parts with, and when the rack the is full all the parts are identical.  I use the first part in the rack as the master part for programming. Then I create a new program that will call this program for gritting. When the first part is done I have setup a variable to shift to the next part and perform the same action. The problem is it will work fine for the first 3 parts, when I get to the fourth part the robot will error. This is due to the robot reaching its limits. This happens on the R-Axis(the axis that rolls the wrist). I have also tried programming the grit motion in a different location. Then I used a shift to run the program in the proper location, same rest as before with an over travel of the R-axis. I have also tried using different motion types with no luck. The reason I am writing my program like this is because I have to make adjustments to the way the program runs sometimes, so I only have to adjust 1 set of instructions by using a sub program.

   If anyone could help me with this I would really appreciate it. I am very lost at this point and am not sure what direction to in next.

   Thanks in advance!
   Rip

[Robo Guru]

It sounds like the R-axis is going through a singularity zone.  This can happen especially if you are doing shifting or using a feature called relative job.

Suggestion....Could you make the problem part your "master" and then shift left or right accordingly??

RoboGuru

[Rip]

first off thank you very much robo guru, yes i will now try that and see where it gets me.

        -Rip

[Industrialrobotix]

I once did a part about 6' long with a shift every inch...would do 12" at a time, go to the opposite end and come back 12" until I met up in the middle...(for heat distribution - MIG welding)....  My taught path was on the far left side and I shifted that path throughout the length of the part....I ran into singularity issues and always went back & tweaked the robot's posture on the taught path - I was always fighting getting past the singularity vs. effecting my weld process from wrist angle changes....I eventually got it working - wish I would have thought about using the taught path in the singularity problem area and shifting from there....dolt...