I have a Fanuc LR Mate 200iD with a R30-iB Controller and HandlingTool software. I am using the robot with a pneumatic gripper to adjust the aim of a plastic water nozzle.
I am having trouble with the motion of my Tool Center Point about the Tool Frame that I designate. I have made sure that my Tool Frame has been properly offset from the default Tool Frame at the end of the robot arm. The values of X,Y,Z,W,P,and R have been thoroughly checked to make sure that the center point of action for the physical tooling matches the CAD files and vice versa.
However, when the values are entered for Tool Frame 1, the robot seems to be slightly rotating around the wrong center point, making the aim of the nozzles inconsistent.
Is there a way to recalibrate or remaster the default Tool Frame position so I know that all of my Tool Frames are based off of a reliable starting point?
Has anyone anyone experienced trouble with TCP motion?