Hello,
We have a LR Mate 200i with an R-J3 Controller that is being used for a pick and place operation. For several weeks we have been having issues with it picking the part correctly from a stack of 50 and also having issues with it placing the part on the welder. We have setup postion registers for each stack and the weld location in an attempt to make the whole operation consistent because we have a vision system in place to check the finished part.
We have setup several approach and escape points on each stack and at the weld point as well and those are also position registers. The main problem is as the robot picks parts from the stack of 50 it seems to drift off course in random directions so by the time we reach the last 10 or so parts it is so far off that the suction cup will not activate. Every time it starts to do this we go in and touch-up the position register and offset at the top of the stack and then touch-up the offset at the bottom of the stack. Once we do that the stack will run fine, but the very next stack the robot begins to drift randomly off course yet again. The robot does the same thing at the welder. What is even more frustrating is sometimes the robot will randomly drift off course right in the middle of the stack. We have even gone as far as laying out the coordinates for each stack and entered them in directly...which did not work either, the robot still drifted random off course and when I checked the numbers for location of X, Y, and Z they were way off from what we entered
I have no idea what would cause this and it has become very frustrating. If anyone can please explain this insanity to me I would really appreciate it.
Thanks,
Prof. Yeager