Problem: Shifting in user frames, S420f, RJ controller

    Hello everybody,
    User frame not works properly in our S420f, Rj.
    Actually we defined the path of robot in user frame that we defined before and we test the system in our site before shipment everything was good. Then we transfered the fixture and robot to customer site and after re-mastering and redefining the tool and user frame we noticed that it seems all path points has some shifts and not in correct position. Anybody see similar problem before? Or we should set or do something for correct working? The robot is Fanuc S420F with Rj controller.

    Many thanks in advance for your help.

    What kind of application are you using this in?
    Is the robot holding anything different than he did in your shop?
    Did you define a payload schedule for all the weight attached to the faceplate ?
    How far off are you talking when you say it shifted and is there any consistancy in the direction that it shifted for the entire path?

    We use the robot for cutting paths with a spindle.
    All the path are incorrect. We start re-teaching the paths.
    The weight of spindle is fixed but may you have recommendations for weight we can use (I mean the load difference during cutting).
    I explain my general view. I think UF not works in this robot!

    Edited once, last by najafabadi (January 20, 2013 at 2:58 PM).

    You havent said how far the path is shifted. It really sounds like the robot is not mastered correctly. I had a robot that the witness marks had slid over. No one paid attention to that fact that they just didnt look like they were in the correct spot, and they just mastered it where they were. This caused alot of errors. Check your marks and check the mastering again closely.

    I mastered it twice time. I checked the scribe marks positions. They were correct. But it is possible that the mastering before shipment was incorrect! It was done by other group. Thank you for recommendation.

    Edited once, last by najafabadi (January 21, 2013 at 2:15 PM).

    Mastering by variables:

    check it out

    Menu/system/variables/$DMR_GRP/DMR_GRP/MASTER_COUN

    THERE YOU FIND IT A CODER MASTER COUNT.
    You can introduce the master count o simply call it
    then

    Menu/system/variables/$DMR_GRP/DMR_GRP/MASTER_DONDE

    Change it to true

    your robot is masterized, but you need to calibrate you can do this in the tradicional screen to calibrate...

    Menu/system/master_cal

    or

    Menu/system/variables/$MCR_GRP/MCR_GRP/CALIBRATE

    If you can´t with the last one do it in a tradicional way.


    I remember you need to erase all de PCA to calbrate

    The only one rule is:

    DON´T MOVE THE ROBOT!!!

    Cause your count not matched with the original position robot!!

    To a better reference Read the manual in the seccion mastering!!!

    Tlalóc<br />Always take it easy!!!!!

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