No tool lenghth on an mrc

[fireblade]

Hi all, have a handling application that has been programmed from scratch with no tool length in. This is causing problems when handling delecate product. I have tried putting the correct tool length into the robot but have seen issues with interpolation of some steps and interferance problems as well. Is there a cure for this other than reprograming the all the jobs from scratch..thanks for your help.

[Robo Guru]

Have you programmed your robot job in relative job mode?  This mode makes your programs in X,Y,Z and can be tied to a tool and/or user frame.  This is a purchased option and by default it is not setup.

Most of" the time motoman robots are programmed with standard job or pulse counts.  Each move command drives the robot encoders to a recorded pulse count position.  When you change the tool length or tool number, it has no affect on the position as you are still driving the robot to a pulse count.  Essentially the pulse counts are not tied to tool values.

If your robot is having interferance problems or interpolation issues I would check the robot calibration for accuracy.  If it is miscalibrated it could do weird movements (especially with circles)  Also, with MRC robots, most of them have a link arm connection the upper and lower arms.  I find when calibration is off you run into mechanical interference issues.

Hope this helps,
RoboGuru

[ssa-2000]

Hi
What kind of system?
Which motiontypes do you use in your program?
Are you sure that your'e using the correct toolno. in the job?
And also is the program relative to a user?
post your answeres and it will be easier for us to help you out
BR