Howdy,
I am new to robotics, and despite this I have been tasked with setting up and programming a Fanuc LR Mate 100i High Speed with RJ-2 controller.
I was able to get the robot up and running from is disused state, clean and grease, master, calibrate, and program some basic functions/movements and run through them, however now I am stuck with some more specific issues that I have not been able to resolve.
1st, as part of the program I am trying to write, I need the robot gripper to travel along a linear path in a single axis about three inches. While it is traveling along this axis I also need the wrist (J5) to rotate through 5.5 full revolutions (1980 degrees).
I used the "position" page to accomplish the linear move - X and Z positions are unchanged and the linear move is made along Y.
Unfortunately the move is not perfectly linear, and the angle of the J4 axis changes slightly out of alignment during the move. I am unsure how diagnose why this is happening.
I attempted to write in the wrist-rotation using the touchup option after jogging the J5 axis through the full 5 and a half rotations. However once I attempted to run this program the wrist will only rotate 180*.
I am assuming this is because I am only recording the *position* and not means by which I want it to reach that position. Can this be accomplished by adjusting the "w" orientation value in the position menu?
EDIT:
Since posting I tried writing a new program where the linear motion is along X, and I wrote in the full 1980* change in position into the "P" value, only to find that the robot still rotated through a meager 180*. I am at a loss as to how I can accomplish my intended task.
2nd, as part of this process want to incorporate a simple push button input, for which the robot will wait for before continuing to advance through the program at various points.
I have some superficial experience programming and wiring PLC's, but have never done I/O work with a robot. What is the best way to accomplish this objective? Will I need a separate PLC or can the robot work with a bush button as a stand-alone input?
I apologize if any of these questions are simple or obvious, unfortunately I have not had any formal training with Fanuc and have only taken a basics robotics course in the past. Any help or advice is greatly appreciated, thank you for your time.