If you exchange just the robot, same controller or replace a motor/ drive.
How do you prefer to recalibrate? Keep adjusting pulse counts for a known point. parallel shift, redo all points in the program?
If you exchange just the robot, same controller or replace a motor/ drive.
How do you prefer to recalibrate? Keep adjusting pulse counts for a known point. parallel shift, redo all points in the program?
First thing first
When calibrating or doing anything between two robots, like checking how the tool looks like. Put the robots a zero position
Now, as far as the points. I've never done a robot change or tool change or any modifications where I didnt have to touch points.
What I do is depending on how bad the points are ? I could do few parallel shifts until I'm close (in average) and then I touch up every point
If it is really bad, because a for example a tool redesign I will teach everything again
It also depends how may points and how difficult to program them.
If you've done your initial setup well, it's not an issue. I once had to have a robot picked up and rotated 180deg, *after* I had already programmed everything. But, I had set up touchable 3-point Base alignment points on all of my fixtures -- after re-doing my 3-point Base setup again, I found that *all* of my programs were back to exactly where they needed to be. I hardly had to touch up a single point.
I try do the home position before I touch anything but sometimes these robots will not move due to a breakdown.
The problem with touching up points is I'm a repair technician. If it's a simple program, I know how to modify points but I'm not a programmer.
What is parallel shift?
Need more info.
If using same hardware (ok its a r2000, but what's the controller), software revision etc. There's nothing stopping you doing an INIT start to blank the controller and telling the robot what it is - but be sure
An image would be nice
For me, I interpret your question to be after robot repair, not major failure. The problem is, you haven't been clear with your problem. So we don't know if its mastering/calibration or touch up or "its all bad"
I was not specific because I was trying to generalize the preferred procedure. Basically because every service call is different.
I have a good safety net because I'm not a programmer. If the job requires programming, my company will send a programmer to accompany me.
So we have multiple scenarios. Customer exchanges a worn out robot for a fresh one. Program is very long, does each point need to be modified? There must be an easier way.
Say I change a wrist, that's 3 axis that can be slightly out.
If I change a drive or motor. I've been able to play with the home position but this has only worked for me if it's one axis.
How about changing a extremely worn out drive and the customer has touched up poiints to make the robot work beforehand. Now with the fresh drive, the points are all off on the axis that was repaired.