Hello,
I am new to robotics and am learning a lot about fanuc LR100 and LR100I robots. They were manufactured in the early 90's. These were handed off to me in working condition until we replaced the batteries in the arm and a servo amplifier. Upon doing so the robot had to be remastered, which was done. The issue I am having with one of the robots is with the palletizing program. Two of the robots perform a simple function and I can touch up all aspects of the program to make the movements, etc but the palletzing function has been an aggressive learning curve and I have no assistance. The previous employee is no longer with us. I am hoping you folks can assist as Fanuc did not offer much as these are ancient machines. I do have a manual which has helped substantially but I am still having issues. A video and pictures of the function are attached. I am working with a 10x10 grid and the locations of my corners are on an attached image.
My issue is when I redid the pallet function, it removes the part with the magnet and brings it to a vise where a face mill cuts part of the molded coil. This is done correctly.
The next task is for the magnet to remove the molded coil from the vise and insert it back into the previous location is was removed from. Upon removing the molded coil from the vise it acts correctly but as the arm comes down, the magnet rotates about 20* (not sure why) and puts the part in the (1,2,1) location instead of the (1,1,1) location. The part is oriented in the wrong manner too.
If it were to function correctly it would go back to the (1,1,1) then continue the same function with the rest of the parts until the tray of 100 is completed.
I have a copy of the program that functions correctly but my issue is some parameter in the depallet function I believe. Changing the INCR from 1 to -1 helped the program move to the next position correctly. Other than that I am stumped. I will provide other info when i get feedback so it makes sense.
I found the bottom points at the correct locations and taught the Approach, bottom, and retract at (1,1,1) is that correct?
Thank you