Hello guys,
I'm trying to program an Yaskawa robot, DX 200 controller, for welding.
The problem I just ran into is one I never experienced before with any robot: I can't match the orientation of the gripper with the torch neck. Regardless of what orientation I set for the Tool Y axis, the Z direction for the tool coordinate system does not change.
Anyone got any idea what could be causing this? It's wastiing a lot of our time since we can't get our laser sensor working without this. Results get pretty bad.
EDIT:
IN world coordinate, rotating around X rotates my tool around the Z axis, and vice versa. Jogging linearly doesn't show any problem though.
Is this a parameter problem maybe?