I have a fanuc robot with 2 external axis's and need to spin one of them with continous turn in intervels of 360 degrees.
My trouble is that it wont rotate -360 or +360 only stays still. It also goes to the nearest point in any direction when lesser values than 360.
Is there a way I can be very specific in the direction and degree of rotations?
tracking rotation more than 360 deg
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LaserTech -
July 16, 2014 at 10:21 PM -
Thread is marked as Resolved.
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You can change the position to joint instead of Cartesian. That will allow you to specify the joint angles.
You could also use a tool offset to specify rotation around the tool axis.
Are you using joint or linear moves? I think you need joint in order to get the axis to go exactly where you need it.
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This is on a positioner, its a linear move because I need to move the robot simultaneously parallel to the positioners axis.
This is my first time trying to move more than 1 group at a time without using the Run statement to move a group in the backround. -
does the positioner and the robot use the same program to move? do you have coordinated motion option installed?
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Yes same program with group mask set for both groups. Coordinated motion j619 is installed as well as multi group motion j601.
Thank you for your efforts. I dont have very much experience with robots, but as a programmer I am learning quickly.
- I wish I had a manual -
so you need to:
1. configure coordinated pairs properly (will be hard without a manual)
2. use COORD option in the program lines that require coordinated motionif the positioner still moves the shortest way instead of performing full rotations, use additional points in your program that are +/- halfway of the moves you need, with CNT100 and COORD options.
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When I use the coord statement it make some wild movements so I'm pretty sure coordinated motion was not configured properly. Your right that'll be difficult without a manual.
I got it working with 3 points, More programming than I hoped especially since I'm following the splines on various sized threaded rod.
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try jogging in coordinated mode ([FCTN] - Toggle coordinated jog, then jog the positioner - the robot should follow).
if this doesn't work, it's definitely coordinated pairs that are badly configured.
pm me for more help.