OTC robot Rx, Ry, Rz movement problem

    Hello,
    There is a AX21 NB4L-NEFN OTC robot that we try to start it from beginning. Somebody formatted the system before we come by mistake.
    We done the zeroing and defining the tools but when we want to teach the robot by using tool coordinate the robot can't rotate correctly in Tool coordinate mode around TCP point. So I can't teach the robot easily. Can somebody help me to solve this problem?
    Many thanks in advanced.
    :help:

    Edited once, last by najafabadi (August 19, 2015 at 4:52 PM).

    Did you input proper encoder offset values?

    How did you do the setup after formatting, did you restore backup? If yes, then encoder offset values should be ok.

    If the robot memory is formatted there won't be need to zero robot axes.

    What is your accuracy if you rotate tool center point around a fixed point how (diameter of sphere within the TCP moves)?

    Did you enter tool values manually or complete TCP calibration? If you made the calibration how big was the biggest error in recorded points?

    How about old existing programs. Is there positioning error in the recorded points?

    Hello,
    We use Rx, Ry, Rz keys in manual mode to modify orientation of robot in tool coordinate mode for teaching, but unfortunately the TCP moves to. Do you believe that accuracy should also adjust in manual mode to?
    We first used TCP calibration but the results had big differences with manual values. Then we read the tool data from another similar robot and enter it to this robot.
    unfortunately someone formatted the data and program of this robot before getting back up. First battery low error happened and relate to lack of experts in the factory the operator made many mistakes (formatting and..).
    Any idea?

    Sounds like encoder offset values would be still wrong. You need to enter correct encoder offset values after formatting system memory. Check that entered values matches with the encoder offset data sheet which should be found inside the controller.

    If the encoder offset data is wrong you'll get big error value when completing tool calibration.

    When the encoder offset data and also TCP have been set up correctly you should be able to rotate tool tip around a fixed point by RX, RY and RZ buttons having tool coordinates and right tool number selected. Tool tip shouldn't move more than about 1-2 mm if everything has been done correctly.

    Problem solved. We made a mistake in "Automatic tool setting", both number of points and direction of approach was not far from each others.
    Also after encoder resetting we should input 0000050 instead of zero.
    Thank you all for your help.

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