Have a new MH50-35 DX100 robot. I'm trying to use a circle job I have used for years on previous Motoman controllers. Teach a center point, set diameter and all the math is calculated inside the job to run a circle. For some reason in the new robot I get excessive speed segments when it executes job. I can make the diameter larger around same center point and it will run fine. The three points that circle job creates are stored as position variable data. I can manually drive the robot to each of the stored points in teach but when it runs in play it tries to spin the first point around the Z- Axis of the tool center point causing the excessive speed segment. Tool center point looks good including the Rx, Ry, Rz, position. I don't have the form cut option to try on this robot. I'm doing a water jet cutting application and have to cut many circles with a 10 mm diameter. Don't want to resort to programming each circle with individual circular moves.
Circle job for DX100 problem
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Jemert -
December 6, 2013 at 2:39 AM -
Thread is marked as Resolved.
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if i am not mistaken this is from a parameter about changing the tcp while making a circle. check the welding manuall to find this parameter and change it.
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I will review parameters again, but I'm not initialized for welding. Robot is set up for general purpose for water jet cutting.
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Jemert
You are not the only one. Exactly the same thing happened to me a couple of weeks ago
My solution was to find a orientation that the robot would not go crazy. Just a couple of degrees on the nozzle would help or breaking a bit more or less the angle between 4 and 5 -
Thanks, I found a parameter that seems to have fixed my issue.
Default was set to 1 I change it to 0. Don't think I have ever seen this parameter in MRC, XRC or NX before.S2C425: CIRCULAR INTERPOLATION TOOL POSITION CONTROL
This parameter selects tool position control methods at circular interpolation operation.
0 : Fixed angle position
Interpolation is performed depending on the position change viewed from
the base coordinate.
As the figure below (left) shows, when tool position viewed from outside is
not significantly changed and that position is mainly taught at teaching, this
setting is required.1 : Rotating position by circular arc path
Interpolation is performed depending on the position change
corresponding to circular arc path.
As the figure below (right) shows, when tool position corresponding to
circular arc path (tool position viewed from the center of the circular arc) is
not significantly changed, and that position is mainly taught at teaching,
this setting is required. -
Thanks
I will try that on my next project
Right now my customer is using formcutI sent you a PM
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This parameter exists on the older controllers also (different address though). The problem on the older controllers is since it is an S2C parameter, it's global. You can correct a problem path in one area and cause a problem path in another.
On DX, in the detail edit screen of the MOVC, there is a COORD tag under Circular Posture Control that can be set to a 0 or 1. This is now a line by line tag that is actually changing the S2C425 parameter. Since it is line by line the path can be fixed in one area without affecting another path.
0 : Fixed angle position
Interpolation is performed depending on the position change viewed from
the base coordinate.
As the figure below (left) shows, when tool position viewed from outside is
not significantly changed and that position is mainly taught at teaching, this
setting is required.1 : Rotating position by circular arc path
Interpolation is performed depending on the position change
corresponding to circular arc path.
As the figure below (right) shows, when tool position corresponding to
circular arc path (tool position viewed from the center of the circular arc) is
not significantly changed, and that position is mainly taught at teaching,
this setting is required.