Our fanuc here had a pulse issue after batteries were changed once we cleared that now our coordinates and the way the arm moves are all out of wack any ideas on a fix
Fanuc lr mate 200 ic
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17kuhlc -
February 2, 2017 at 7:23 PM -
Thread is marked as Resolved.
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Sounds like a mastering issue, your encoders lost their positions. Read this post, it has helped me twice:
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As little as 1 degree on axis 4 or 5 will really affect the kinematics..... double check mastering
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Tried those steps and it still does not work correctly axis are not moving right.
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Access two and three should both be at zero degrees when you master them if not your interaction angle be screwed up
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Jog the robot in joint mode to all 0 degrees as indicated by the position screen, or create a zero program and run it.
After the robot indicates that it is at zero degrees, look at the witness marks. Do they line up?
When you do a zero position master, make sure you jog joint two to zero before jogging joint three, as jogging joint two also moves joint three.
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How do i create a zero program hard to get everything back to zero with axis all going wrong ways
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Code
Display More/PROG ZERO /ATTR OWNER = MNEDITOR; COMMENT = ""; PROG_SIZE = 484; CREATE = DATE 16-06-01 TIME 13:39:16; MODIFIED = DATE 16-06-06 TIME 14:01:06; FILE_NAME = ; VERSION = 0; LINE_COUNT = 1; MEMORY_SIZE = 852; PROTECT = READ_WRITE; TCD: STACK_SIZE = 0, TASK_PRIORITY = 50, TIME_SLICE = 0, BUSY_LAMP_OFF = 0, ABORT_REQUEST = 0, PAUSE_REQUEST = 0; DEFAULT_GROUP = 1,*,*,*,*; CONTROL_CODE = 00000000 00000000; /APPL AUTO_SINGULARITY_HEADER; ENABLE_SINGULARITY_AVOIDANCE : FALSE; /MN 1:J P[1: 25843.777] 100% FINE ; /POS P[1]{ GP1: UF : 0, UT : 1, J1= 0.000 deg, J2= 0.000 deg, J3= 0.000 deg, J4= 0.000 deg, J5= 0.000 deg, J6= 0.000 deg, }; /END
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Sorry new to this where do i go to create that and where are the witness marks
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EDIT>CREATE, just like any other program.
The witness marks on a lr mate are scribed into each axis.
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How did you get all that code into there or is that not what im supposed to do
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Just make the program and hit F1 to record a point. Then highlight the point and press F5 to view the position. Press F5 again for representation. Change this to joint, if an error is posted, just hit yes. Then change all the values to 0.
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Im only seeing 1 witness mark
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Now im getting motn 063 position config change g:1
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Make the move a joint move.
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Ok now the j1 j2 and j3 work fine but j4 j5 and j6 dont go right ways