Hi,
I have problem with all my tpe program since i have create a new tool frame...
It´s the first time for me that i created a new tool frame, i had only one user frame before.
Now when i start program, i have error : position not reachable or singulary error
In fanuc documentation it is indicated that when we create a new tool or user frame we have to reinit program. That mean i need to remake alls my tpe programs !!
Its my firsts steps in fanuc,
Thank you very much for your experience...
Kukart
Problem after new tool frame creation
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kukart -
September 26, 2015 at 8:28 AM -
Thread is marked as Resolved.
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You can go to MENU -> Utilities -> Tool Offset.
There you choose program for which you want to change tool frame to a new one.
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Thank you dha but the problem stay...
Now, it's not possible to move robot in WORLD frame !!! (singularity fault...)
I have decided to supress the new tool frame but fault stay.
I don't understand why it's not possible to move robot in WORD frame ??
My TPE program don't work (position not reachable erreor)
Now, I think that I must to re make all my program !?
Thank you very much for your help.
Kukart
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Thank you dha but the problem stay...Now, it's not possible to move robot in WORLD frame !!! (singularity fault...)
I have decided to supress the new tool frame but fault stay.
I don't understand why it's not possible to move robot in WORD frame ??
My TPE program don't work (position not reachable erreor)
Now, I think that I must to re make all my program !?
Thank you very much for your help.
Kukart
For 1. You need to teach your positions in the New frame or it'll either go somewhere it's not supposed to or give you not reachable fault (if your lucky). 2. Make sure you are calling it in the program like UFRAME= X UTool= X.
Singularity will happen when J4 J5 and J6 or any combination of them are all around the 0 degree mark on your joint positions.
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Thank you ESEILI for you explantions. I have add UFRAME=X and UTOOL=X at the biginning of my programs and I had to rudo all my TPE programs !
After 4 hours of programmation, it´s OK !
Morality : Never touch frame tool when we are beginner !
Thanks
Kukart -
Thank you ESEILI for you explantions. I have add UFRAME=X and UTOOL=X at the biginning of my programs and I had to rudo all my TPE programs !
After 4 hours of programmation, it´s OK !
Morality : Never touch frame tool when we are beginner !
Thanks
KukartHaha I think we all should print this out and pin to our robots in case of new guys. I made the same mistake though...nobody told me this before until I learned hard way
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Happy to know that I'm not the only one !
Now I think I have understand how to create and use tool frame !