Last night the boys bent my gooseneck and by the looks of it they ran the quickcheck for the tcp. This morning I straighten the gooseneck and reran the quickcheck but it isn't running the tool straightener and the torch head isn't straight when it checks the tcp. I decided to set up a new tcp but I get most of the way through the setup and I get an event message 50026 close to singularity. I cant seem to do much except go back to the main and im still stuck with the original tcp. I've tried to run it a few times with the same result. Any suggestions? The gooseneck is straight. We bought a fixture for fixing them instead of sending them out.
Singularity issue setting up new tcp
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jarm -
September 21, 2018 at 2:04 PM -
Thread is marked as Resolved.
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Are you jogging in joint mode - or Cartesian?
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I know what your asking but im not sure what to say. The bullseye routines came preinstalled and I can't even see the code. Im just running them from the service menu. The error message says to modify the path away from singularity or change to joint interpolation but im not sure how to do that and I cant move the robot unless I pp to main.
I just been going through the bullseye manual. The instruction used is BEsetuptoolj so im going to go with joint mode,lol
Description
Task:T_ROB1
Robot to close to singularity
Program Ref /myBullseye/BESetupnew/BEsetupToolJ/7
(Internal code 22)I've noticed my CheckTcp cmd uses BECheckTCP with the XYZ only. I'm going to try deleting the xyz only flag to see if this will straighten the torch instead of trying to setup a new tcp.
lol ya nope...didn't change anything
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IRC5? (Not my strongest suit)
The "Jogging" page (or the jogging icon) should let you change modes. It may not help when stepping through a routine like BullsEye (never used it - hope to try it someday...). -
Yes its an irc5 and I don't see where I can change that in the jogging menu.
As you can see the tool is not straight when it goes to do a tcpcheck and it says the tcp if fine. If I don't straighten it you can see what will happen when it goes in for a torch clean.
I'm not really sure how to proceed seeing I cant set up a new tcp or get it to run the bullseye tool straightening.I found a reference to a singularity error in the manual which states to reteach the start position in the BESetuptoolj instruction. im trying that
That worked.. tried moving the start point an inch over and I got the same error so I rotated the arm around and retaught that and it worked...no error and all is straight.
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Can you post a pic of the wrist / upper arm when it trips the error ?
It sometimes helped to set the starting position slightly different, so if you reorient the torch around Z and try a different starting point.
you can also limit/reduce this (not too much as it does affect accuracy):
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I updated my last post...I rotated around z and retaught the startpoint and that worked