hi everybody
my krc2 robot start to shift points by itself. when it works suddenly all points shifted . ı suspect about rdw but is there anything else? should ı order a new card?
points shift by itself
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basbasan -
October 27, 2015 at 7:03 AM -
Thread is marked as Resolved.
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Can you see a pattern in the shifting? I mean... could somebody have modified the base/tool the robot is using?
Usually there's a message saying the values in the HDD and the values in the card are different if something like that happens, but...
Do you have a backup which you could try to use? Before using the backup make a copy of what you currently have on your system...
Good luck!
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there was no error but ı m sure no one touched it. all the points shifted and it happened before one more time. ı have changed the card with another robot's card. ı will see if its because of the card. but maybe there is another reason to shift the points?
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did you check for slip in mechanical components?
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yes ı check mechanic parts on the gripper. everything s look fine and fixed. and ı dont think if something wrong about robot gear/belt. because robot can work fine for a long time without shift like 2-3 days. also its not a small shifting , for example 5-6 deg only at the A rotation.( other axis also shifting)
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The last time I had something like that happen, my robot's mounting bolts were slowly pulling out of the concrete floor (contractor had only put 1/4 of them in).
Is this an orientation change, a location change, or both? Is it something that could be isolated to a single robot axis, or would it require multiple axes slipping in concert? Could it be accounted for by just the wrist axes?
An RDC card going bad is very unlikely. They don't "drift" -- the either work perfectly, or fail completely. A mechanical cause is far more likely, but you would have to examine the nature of the slippage very carefully and isolate which axis, or axes, are causing it.
One approach might be to make a test program that touches the tool to a series of clearly identifiable points, and record their values in both Catesian and Axis values. Then, if/when the robot slips again, examine how much correction is required on each Cartesian and Joint axis to correct the slippage. That might help narrow down which axis or axes is the culprit.
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the robot shifts at the planes and oriantations. it cannot be because of one axis or gripper.
as you said ı will back up and check the position shifts.