Staubli Unimation Puma 260

    Hello everybody!


    I am looking for the system disk with 'potcal' for an old Puma 200 / 260 Val-II V2.2 or similar. It has a Mk-II controller.


    It is working but the overlay file supplied leaves it in the wrong ready position and it will not return to the correct nest position anymore.


    Any help would be appreciated. Maybe there is somebody with manuals for the 260 system out there as well.


    Thanks!

    VAL-II: Unimation 761 Mk-III, Unimation 762 Mk-III, Actis Robotique 761 Mk-III, Unimation 260 Mk-II<br />VAL: Unimation 560 Mk-II<br />Adept MV-8 2*040 + Vision + Net

    If you keep Calibrating from the same position you can sometime get a mis call, try moving you calbration point and then cal.
    This is because the area where the pot wiper is get worn.
    As we can only issue a cal command from a MC Program, i check my calibration by the following auto program:


    .PROGRAM auto
    MC ex check.at.home
    MC if bad.angle == true goto 1
    MC cal
    MC sp 10
    MC do move #home
    MC ex check.potreadings
    MC if bad.read == true goto 2
    MC sp 50
    MC ex main
    MC if true goto 3
    1MC



    MC; ROBOT IS NOT AT IT'S HOME POSITION



    MC if true goto 3
    2MC



    MC; ROBOT POT READINGS MIS-POSITIONED POSSIBLE MIS-CAL (RETRY)



    3MC
    ;end of AUTO file
    .END
    .PROGRAM check.at.home
    BREAK
    HERE #now
    DECOMPOSE n[] = #now
    DECOMPOSE h[] = #home
    bad.angle = FALSE
    jt = 1
    DO
    bad.angle = ABS(ABS(n[jt-1])-ABS(h[jt-1])) > 15;degrees
    jt = jt+1
    UNTIL bad.angle OR (jt > 6)
    RETURN
    .END
    .PROGRAM check.potreadings
    ;Values at CAL position (#home)
    potread[1] = 492
    potread[2] = 684
    potread[3] = 674
    potread[4] = 549
    potread[5] = 600
    potread[6] = 600
    jt = 1
    DO
    sum = 0
    FOR n = 1 TO 10
    sum = sum+POTADC(jt)
    END
    read = INT(sum/10)
    bad.read = (read < potread[jt]-1) OR (read > potread[jt]+1)
    TYPE "Joint ", /I3, jt, " Home = ", /I4, potread[jt], " Actual = ", /I4, read
    jt = jt+1
    UNTIL bad.read OR (jt > 6)
    RETURN
    .END

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