I have reinstalled the robotware on a S4 M94A.
Afterwards I loaded system parameters and program from files I received from customer.
Now I seed that the positions are not ok : they do not correspond to the positions from before the reinstall of the robotware.
And when i jog the robot lineairly along one axis (with reference base and tool0) the movement of tool 0 is not strictly lineair, and is also rotated.
Furthermore when I measure the position of tool 0 (in reference to the base of the robot) and compare it to the values in the jog screen (for tool 0 and base) it is more then 200 mm wrong at least.
One possibility is that the custommer had not the last configuration files (system parameters with callibration values).
Another thing I am doubting about, what if I have selected the wrong robot type during installation of the robotware?
Someone told me that it does not influence the position values, and if selected wrong, I would almost immediately get fault messages like current alarms from the motors.
Is there someway to check in an already installed system that the right manipulator was chosen during installation of robotware?
M94A IRB6400 positions not ok
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Plc_User -
June 13, 2014 at 10:53 PM -
Thread is marked as Resolved.
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Run the CAL6400 routine that puts all axis to 0 degrees to see if one or more axis are not at zero. (small 'scale' should line up for each axis)
It is always best to run this before doing a coldboot as you are sure the robot is ready for updating the counters after the cold boot and you can check the jogging window to see all is zero.