I have an M710iC robot with an RJ3iC controller. The robot was purchased used and I have no idea how long it was sitting without power in storage. I powered up the robot, replaced the batteries, and had to remaster it. After remastering the robot and attempting to move in the World frame the robot will move, but not in a motion parallel to any X, Y, or Z axis. The most confusing motion is that when attempting to jog axis one, the robot rotates about this axis. It does not appear to move correctly in any of the frames. I have remastered the robot for a second time with the same results. Any help or direction anyone can provide me is greatly appreciated. Thank you.
M710iC robot will not move straight in World frame
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ECSJeff -
November 8, 2014 at 7:17 PM -
Thread is marked as Resolved.
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Bit of a long shot, but I've seen this behavior when the controller thinks the arm is a different variant than what it is attached to. For example, controller thinks that it has a M710iC/50 attached and the arm is really a M710iC/70.
The differences in gear ratios will cause the arm to jog incorrectly.
I would look at the summary.dg file in the MD: drive and verify the arm matches whats in that file.
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I've had the same problem that nation mentioned.
Also, you can check that you mastered it correctly. If the joints weren't all at the zero position, this could happen.
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Nation,
Sorry, but I'm a bit of a rookie at this troubleshooting. Much better with programming. What is a summary.dg file and MD: drive? Thank you so much for your help. I greatly appreciate it. -
You can get to the MD: drive in the file menu, under F5 -> SET DEVICE. From there you would do a F2 for DIR, then *.*, and the you could copy it to a usb disk or a memory card.
Another option is to go to the status screen, and then goto F1 (TYPE) -> VERSION ID. On that screen it should show what arm the controller thinks it is attached to.
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Summary.DG is a file. It is saved in an all files back up. It has all of the robots info in it.
It will open in notepad or word pad. -
Gents,
I went to Status, Type, and version id. The robot arm listed is correct. I have an M710iC/50 and this is what is listed. Any other ideas? Thank you for all your help. -
OK you have a tough issue to resolve. Is it possible someone repaired this robot and installed an incorrect part?
I have had a couple of these and they were hard to isolate the problem.
On one unit, the wrong axis 1 gearbox was installed, on the other the wrong gear on axis 4.Have you done an INIT start to remove all of the previous user's settings?
I would recommend you start with that. Back up the robot both an image and all files.
Enter the boot monitor by pressing F1 and F5 simultaneously while turning on the controller, hold them depressed until the robot boots up.
I am not sure if it will be displayed on the main boot monitor menu. If not it is probably under maintenance. You can do a search here and find the info.
You will have to master it again afterwards so move it to zero before you do it.After all of that the robot will have been reset to "factory" settings.
Master it and see how it is. -
Gents,
Problem solved. Many thanks for your assistance. I had mastered the robot three or four times using fixture mastering, zero mastering, single axis mastering, and even reentering the original mastering data into the system variables. Nothing worked. It was as if the mastering data with the robot at the zero position was just not being stored in the memory. I then had a friend come by to help me and we went through each step and zero mastered the robot again. Everything worked just fine. I don't know what we did differently, so I chalk it up to operator error. Thank you all so much for taking the time to help me.