I'm having problems with a dx100 (dual), we have R1 and R2 in the cell and calibration has been done to both since R1 kept on crashing during auto mode (play mode) R2 is working fine but R1 still not working as it supposed to, the axis keys R,B,T in RECT coordinates do not move as they should ...... any idea as to what could be the problem? please help
axis keys not working properly
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Eli -
June 11, 2015 at 12:42 AM -
Thread is marked as Resolved.
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In RECT coordinates the R/B/T keys roll the arm around the TCP. If your TCP is not correct the arm will move "funny". With a dual you have to watch what arm you are controlling and what arm you are assigning a TCP to.
This should have nothing to do with the robot in play mode. The coordinate systems are for teaching the robot. Each time the enter key is pressed to record a position, the 6 encoder values are recorded regardless of the coordinated system. The exception to this is if you are using relative job.
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problem was solved, at first I did calibration to the robot arm but not to the positioner after doing the calibration to R1, S1, S2 and S3 everything started working fine again