how to create a relative job

[robs]

hello every one,
               i have a es200n robot with nx100 controller.
Can anyone tell me how to create a relative job.
Also is it necessary to convert the relative job back to standard job before running the robot in auto cycle?
Does it require some special software option?

thanks,
bye...

[Fabian Munoz]

Hi:

Before we even start talking about relative job do this:

Edit any program.  Something with a couple of motions
Select Utility (buttom on top screen)

Do you see the option Relative Job ?

Anwser back and we'll give you a hand

somar

[robs]

hello somar,
              thanks for the reply.
I am not able to see relative job in utility.
Can you help me activate this option?

thanks,
bye

[Fabian Munoz]

Sorry, I cannot help you with the activation

[tony gast]

Relative Job is a paid option....
You can program using P-variables and get XYZ points
why do you want Relative Job?

[robs]

Hello everyone,
         my robot had a crash and the gun shank was damaged. when i changed the shank the robot does not go to its original position. i have tried parallel shift but still not good enough. i want to change the tcp value and the same to be reflected in the programs. i was told that since the program is in pulse value any change in tcp value will not effect the program. can any body help me start up my production without having to teach the programs again.it is difficult for me to reteach the programs since i have different variants and each variant has 3 to 5 programs.
              will motosim or motocal will be of any use?
thanks.

[Fabian Munoz]

robs:
If this is right       "when i changed the shank the robot does not go to its original position." you better check for robot calibration. Move the robot to witness marks and display the pulses.

I wouldn't teach a robot that is not calibrated or damaged. I've done in the past and later on you end up reprogram everything again anyway.

I don't remember the procedure for calibration right now. Call Motoman, they can guide you by phone.

Be prepared to touch up points. This could take long and you are running production but in the long run is going to be much better

[Kopi]

Hy,


If you want to use the relative job function you have to switch on the FD 1 parameter to 1.


I hope it helps ,

Kopi

[Robodoc]

Kopi is right, you can set a parameter to get this function, but you should buy it from Motoman for some very good reasons.

One when you buy an option from Motoman you get the manual and support.  If you turn the parameter on and use this forum you have to wait for a reply and we can only reply to what you ask.  The manual will show you all the things you can do with this option.  And as always, Motoman technical phone support is free.

Two, in able to turn this parameter on you have to know the high level code.  If you know this code and are caught using it ALL THE ROBOTS IN YOUR PLANT WILL HAVE THE WARRENTY DENIED.

Just something to think about.

[motomaster]

robot jobs are created in pulse format by default...if you have relative job function you can convert them to relative job format...if you have expanded relative job you can define what format your jobs are created in instead of having to convert them.

[ssa-2000]

Hi,
If your gunshank is damaged and you won't replace the equipment, theres a function which is called PMT Permanent adjustment after tool deformation
(strange abbreviation BTW), this is simply explained like this: your current TCP is stored, a new tcp with the deformed tool is created by technician, these two are compared and the selected jobs using the tool is shifted.  This option is used if you can't for eg get a new tool in time.I use it when for eg a new type of torch is going to be used in existing jobs, But as Somar says, get the robot back in to shape  first of all is the best option.
Regarding activating a function there is quite often that you have to set a few corresponding parameters to get full function, or the functionality you need.
BR

[kaikai]

"Relative Job is a paid option....
You can program using P-variables and get XYZ points
why do you want Relative Job?"


 which the advantage of using p variables ? 

can someone give an example ?


Thank you. I visit every day this forum. Very good. Thanks to all who contribute to this 

[Fabian Munoz]

I will say most of the people use P variables in Motoman because you can actually see the XYZ coord and makes it easier to visualize things.
Would you think is easier if I tell you  "This point is 10mm to the left, 5 mm ahead and 3 mm down  than 15640 pulses to the left, 63503 .......
I dont use them all over the place, I just use them in very particular points.


Relative job. Example
Imagine the robot, put to beds, one on the right of the robot, the other one on the left. Also the beds are facing opposite, (head/feet).
Imagine somebody sleeping in one of the beds and you program the contour of the body. How would you copy that program if you want to put that body contour on the other bed.  That's when you use relative job
  I hope you understand my example