Hi All,
I have four point for a circle and i want to make a circular movement twice.
Circular movement (part of program) looks like this:
MOVC C00000 V=16.7 PL=2
MOVC C00001 V=16.7 PL=2
MOVC C00002 V=16.7 PL=2
MOVC C00003 V=16.7 PL=2
MOVC C00004 V=16.7 PL=2
MOVC C00005 V=16.7 PL=2
MOVC C00006 V=16.7 PL=2
MOVC C00007 V=16.7 PL=2
MOVC C00008 V=16.7 PL=2
where,
C00000=-5836,21359,-7667,-1013,14190,45888
C00001=-6469,22799,-6329,-998,14033,46135
C00002=-5732,24029,-5175,-1014,13909,45845
C00003=-5098,22598,-6517,-1030,14072,45604
C00004=-5834,21359,-7667,-1013,14190,45888
C00005=-6469,22799,-6329,-998,14033,46135
C00006=-5732,24029,-5175,-1014,13909,45845
C00007=-5098,22598,-6517,-1030,14072,45604
C00008=-5836,21359,-7667,-1013,14190,45888
When I try to return to the last/final position in sequence point 0,1,2,3...........,3, 0 it throws "Specified Error (Coordinate) [2]" error. I checked with the manual, and it says that it must be related to tool coordinate. I am using Tool 1 (TL#(1)). When I try to move not in sequence, there is no problem. Moreover, if I delete the last point and move the robot to the robot to second last point which is now the last point (point 4), the same error appears. What is wrong with the code or the robot? Why it can move without error for the first movement for the circle but not for the second?
Please help!