Hi guys,
I'm having problem to execute some program i did a few month ago.
The robot is a Arcmate 100iC with R30iA controller.
When i did those program, my tcp looks like this :
X:-108.4 Y:-2 Z:366.3
W:-157.1 P:39.9 R -146.6
Now my new TCP is : X:-110.447 Y:0.445 Z:374.741
W:-180.1 P:-45 R 0
it's a 45 degre angle torch
As you can see the tcp is pretty much the same except for the rotation. I did a new one because the too X+ wasn't align correctly
So now when i want to execute a program i did before i set the new tool, i add UTOOL 1 = PR 99 where PR 99 is my old tool X:-108.4 Y:-2 Z:366.3
W:-157.1 P:39.9 R -146.6
But it don't work. Almost all my position are unreachable. when i try to check the position of a J point and set the representation in joint, i get the message kinematics solutions is invalid.
Any idea on what may cause this problem??
Thanks you
I forgot to say that i have remastered and recalibrated the robot... i guess the problem come from there but i can't see what it is