I hope you guys can help me out with this one. We have in our plant an old RJ3, Arc Mate 100i, that is not moving right in world jog. I can put it in world jog even after calibrating the robot and when you move the axis 4,5,6, the tool center point moves as well with the tool end not staying at reference point on the touch block. I know you can't change world coordinates so I'm thinking maybe the axis module. I did change out the servo and I had the same results. Any thoughts on this would be greatly appreciated. I'm tired of beating my head on this!!
World Coordinates
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Junkycosmo -
September 8, 2016 at 10:24 PM -
Thread is marked as Resolved.
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When you say you move axis 4,5,6 are you meaning to say rotating w,p,& r in world coordinates? Is your TCP defined correctly? How did you teach it? Is your mastering good? Has it ever been altered?
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In world coordinates, 4,5,6 won't rotate around your TCP, it will rotate around the center of the face plate.
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In world coordinates, 4,5,6 won't rotate around your TCP, it will rotate around the center of the face plate.That is incorrect, unless you do not have a Utool defined. With a properly defined Utool, jogging about x, y, and z will rotate about the tcp.
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Press shift coordinate and look at the uframe and utool number. In world you should se uframe 0 however you can select which utool # to use as your tcp. Change it to the one you are expecting to see. They are defined under Setup,Frames.
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