I have an inverted Lrmate 200id-7L Robot that I am hitting a J2/3 Axis limit at approximately 204deg. I am not sure what is going on. Hopefully someone can shed some light. I have done a fully simulation with the exact same robot and it is not behaving the same. Basically I am not able to tuck the robot up due to a J2/3 issue. It gives me a motion alarm. I am not coming close to either Joint axis limit but rather the pair. When I sent the robot to the exact same joint angles as the simulation. The robot is in a very different position (for joint 2 and 3 only). It is approximately 20deg out from what I see in the simulation. What really peaked my interest is when I look in the 4d view in the pendant. It appears to look exactly the same as my simulation, it visually looks different from the actual robot. If I put joint 2 at 90deg in the sim, it is parallel to the floor. If I put the real robot joint 2 at 110deg. It is parallel to the floor. Meaning it is about 20deg closer to the limit.
I have a couple concerns here. Why is the simulation so far off. Going to the same point, it is not in the same position. If I match joint angles from sim to real life. It is inches different.Seems to pertain 100% to joints 2/3. The others seem to be good. Why If I put the robot to 110deg @ joint 2 is it at 90deg to the floor in the real world, but not in the pendant 4d view? Keep In mind I am a fairly new fanuc user.
Thank you for your help,