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World Coordinates Error cannot move linear.

  • AML1994
  • July 29, 2018 at 12:50 PM
  • Thread is Resolved
  • AML1994
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    • July 29, 2018 at 12:50 PM
    • #1

    my before post last massage net replay anyone.
    https://www.robot-forum.com/robotforum/fan…/?topicseen#new


    can't find witness marks.
    how to zero position master this robot and fix this problem.
    mastered this robot j1 face for x direction,j2 and j5 parallel the z direction, j3 parallel the x direction.
    wrist lock and jog robot mod now world coordinate is OK before the problem.but not full correct.
    wrist unlock and move the robot x direction.tool is not in y and z planes same point.offset these point move x direction.example is x direction.move any other direction.same problem
    move the robot in joint mod j2 axis.why move j2 motor and j3 motor.i think cannot move j3 motor.
    please help me.

  • robotero
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    • July 31, 2018 at 4:49 PM
    • #2

    What robot model are you working with? Post a picture
    If the marks are erased is going to be difficult to calibrate

    In the calibration posture the
    main arm (link 2) is vertical
    upper arm (link 3) is horizontal :
    at 90 degrees with link 2
    link 5 is in line with link 3

    J1,J6 are unimportant

    What is your application???
    You might no need to calibrate accurately the arm

    If you use it for pick and place joint interpolation is enough

    Welding sealing requires good calibration


    Sent from my iPhone using Tapatalk

  • AML1994
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    • July 31, 2018 at 6:33 PM
    • #3

    my robot is """FANUC ARC MATE 100IB""".

    "robotero" i try this method.but not clear linear movement.
    x and y have small curve.but z have more curve.
    and can move this linear only wrist jog lock method.
    unlock the wrist jog tool is moving other direction.

    this robot use for welding.
    i want high accuracy calibrate this robot.

    please help me

    thank you.

    Edited once, last by AML1994 (July 31, 2018 at 6:34 PM).

  • rafahil
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    • August 2, 2018 at 2:14 AM
    • #4

    Check the attached file

    Files

    ArcMate100iB witness marks.pdf 95.92 kB – 59 Downloads
  • AML1994
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    • August 2, 2018 at 3:40 AM
    • #5

    thank you your pdf.
    i checked witness mark.but haven't witness mark in this robot.
    please give me another solution.
    master zero position or fixture position?

  • byrol
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    • August 2, 2018 at 7:10 AM
    • #6

    Your robot's zeroing signs may have disappeared. In the "JOIN" position, the zero points of the engines do not change much. However, due to not working too much over time, some motors may deviate by 1-1.2 degrees.
    In my opinion, do not reset the reference point of your robot, but reset it with reference to the zero points you see in the "JOIN" position. We've worked on this before, we have tried many methods, but it's very hard to catch factory values at home. We are fine-tuning our source points according to the zeroing we have done.

  • ownagebyh4x
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    • August 3, 2018 at 2:53 PM
    • #7

    I've heard but never seen FANUC zero fixture tool.

    As far as I know you could use it to get 0 position again.

  • AML1994
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    • August 14, 2018 at 3:38 PM
    • #8

    """ robotero""" thank you.

    but not high accuracy liner movement.
    teach 2 point using wrist lock world coordinate mode.
    running robot have small curve.
    wrist unlock robot cannot move.because wrist rotate more turns.
    cannot find witness mark.(add picture below.)
    moved robot x axis.but robot move x and z axis.
    same are y,z axis.

    please help me.

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  • AML1994
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    • August 14, 2018 at 3:46 PM
    • #9

    teach 2 point using wrist lock world coordinate mode.
    running robot have small curve.
    wrist unlock robot cannot move.because wrist rotate more turns.
    cannot find witness mark.(add picture below.)
    for the mastered robot.how to master this robot.
    moved robot x axis.but robot move x and z axis.
    same are y,z axis.
    how to design tool frame for this robot

    please help me.

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  • KalebM
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    • August 14, 2018 at 5:38 PM
    • #10

    None of the bolt heads on any of my robots have paint on them.
    It looks like your robot has been painted.
    The witness marks probably need to be uncovered.

  • AML1994
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    • August 14, 2018 at 6:01 PM
    • #11

    how to fix non linear problem.
    robot always move small curve

  • Robo_Eng_13
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    • August 15, 2018 at 2:48 PM
    • #12

    If you have another robot of the same model, you might be able to cheat out a zero position mastering.

    Take a mastered and functional robot that is identical, and use a miracle point or digital protractor to manually align all of the axis on the bad robot to the exact same angles as the good robot at 0, then zero master the bad robot. The only parts i am concerned about are J1 and J6, because i am not sure how you would be able to positively ID them. For J1, maybe drive to a hardstop and single axis master it to whatever the hard stop location is supposed to be? Not very accurate. For J6, if it is continuous rotation, maybe just pick an orientation, and it should be fine.

    Alternatively, Fanuc should have a method with a special fixture which they could use to re-master a robot without witness marks.

  • AML1994
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    • August 15, 2018 at 6:34 PM
    • #13

    ""Robo_Eng_13"" hot to do it?
    please explain.
    thanks for your anser

  • Robo_Eng_13
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    • August 15, 2018 at 6:58 PM
    • #14

    In these instructions, Robot 1 will be your current problematic robot, and Robot 2 will be a known good robot of the exact same model as Robot 1.

    1. Take Robot 2 to its zero position.

    2. Use a miracle point or digital protractor to measure the base of Robot 2 to determine if it is level or tilted.
    2.1 If level, no action needed.
    2.2 It tilted, rotate J1 of Robot 2 so that the robot faces directly uphill or downhill (to make math easier)

    3. Repeat Step 2 for Robot 1.

    4. Determining your offset. Measure the slope of the base for Robot 1 and Robot 2. Whatever the difference is, remember that. You will be adding it (or subtracting it as appropriate) to your measurements.

    5. Use the miracle point or digital protractor to measure the angle of the lower arm of Robot 2. Add (or subtract as necessary) your angle offset, then carefully jog J2 or Robot 1 until the miracle point or digital protractor indicates you are at the desired angle.

    6. Repeat step 5 for J3.

    7. J4 should be measured to level, if your robot is aimed uphill or downhill at J1.

    8. Repeat step 5 for J5.

    9. For J6, i would assume that you are near the middle of the range. Measure across two bolts on J6 or Robot 2, then jog the faceplate so that it matches between any two bolts.

    10. Perform zero master on Robot 1.

    11. Last is to try and get J1. Move J1 of robot 1 and robot 2 to the same direction hard stop.

    12. Perform a single axis master on Robot 1 to the angle value of Robot 2.

    This is the best estimate i could come up with, if i were in a desperate place.

  • AML1994
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    • August 16, 2018 at 4:10 AM
    • #15

    haven't good position robot.
    how to did it?

  • Robo_Eng_13
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    • August 16, 2018 at 1:36 PM
    • #16

    Sounds like you are out of luck. Call Fanuc. They should have a fixture to master it without scribe marks. Once it is re-mastered, add new scribe marks, so you can recover in the future. Fanuc sells the little glue on pointers that come by default, or you can just put a clear scratch in the paint across both sides. I like the arrows.

  • robotero
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    • August 19, 2018 at 5:58 AM
    • #17

    I am sorry, I couldn´t reply early. I am busy

    If your robot has calibration errors just add move intermediate point in you weld path

    You can attempt calibrating the robot WITHOUT master fixture :


    Is possible because there are multiple solutions to reach the same position/orientation
    When the robot is correctly calibrated, the tool position/orientation will be the same when configuration is changed

    But when robot is not calibrated correctly position/orientation will be different

    Then you move the robot axis to calculate the correct angle
    Finally, use the computed value to single axis master

    Only J2, J3, J4, J5 are critical

    First, roughly calibrated/master the robot
    Tool Frame is unimportant, make it zero

    Then adjust the calibration starting from J5

    Fix a pointer reference
    Then move robot to touch the tip of the pointer
    Record the point twice (using Joint interpolation)
    Change the configuration of the second position (Flip to Non flip or viceversa)
    Move robot to second position
    If robot is not correctly calibrated, Tool tip would not return to the tip reference pointer
    Take note of the programmed J5 value
    Moving only J5 bring the Tool Tip as close as possible to the pointer
    Read the value of J5 axis
    Add both values and divide by two
    Without moving the robot single axis calibrate using the computed corrected angle
    Master robot

    That would correct J5 axis

    Try this first, then I will send instruction to correct the rest

  • AML1994
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    • August 20, 2018 at 7:04 PM
    • #18

    ""robotero"" cannot understand your last post.

    mastered and calibrate robot to move the witness mark.

    but my linear error not fix.

    teach same z axis and x axis different y axis 2 point.but robot running small curve.(have a small video clip.try to upload.but cannot upload for this reply)

    normally world coordinate system move the robot z direction.but robot move the x and z direction.

    that time checked xyz position value.only changing z.but WPR values are changing.

  • robotero
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    • August 21, 2018 at 7:03 PM
    • #19

    http://www.roboticsresearch.com/01_images/03_p…rcmate100iB.pdf

    To roughly calibrate just move the robot to the posture shown in the pdf document

    Zero master the robot

    MENU -> SYSTEM -> MASTER/CALIBRATE -> ZERO POSITION MASTER

    Then in the same menu Calibrate the robot

    MASTER/CALIBRATE -> CALIBRATE

    To check that you correctly calibrate check the position values

    Press POS button

    ALL joint values should be ZERO

    Check which of your TOOL Frames is NULL (All values ZERO)

    MENU -> SETUP -> FRAMES -> OTHER -> TOOL FRAME

    Check the Tool frame definition by pressing DETAIL

    Make any NULL TOOL Frame the active TOOL

    SHIFT+COORD, then press the number of the NULL TOOL

    Then display the position in World coordinates

    The position with a NULL Tool should be

    X= 150+615+100 = 865
    Y = 0
    Z = 600 + 100 = 700

    W = 180
    P = -90
    R=0

    In this position the wrist is in singularity (J5=0)
    To jog thee robot in world coordinates, move J5 first in joint mode

    Then jog in world coordinates

    Follow the procedure to calibrate J5

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  • AML1994
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    • August 22, 2018 at 3:58 PM
    • #20

    i did this proceed-ear.
    x value is 860.
    i teach 2 point.
    same x and z point different y position.
    have same problem.move other direction small curve.add image teach point and 2 point between start and end point.

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