We have a M20iA/12L Robot mounted on a E1 linear axis. The Robot is mounted on a 45deg inclined platform which is then mounted on the Base of the External axis. Please see the image below.
I have configured the External axis such that Mounting angle is 45deg, Jog direction is X+ etc. The External axis when jogged in JOINT moves properly but when it is moved in WORLD or TOOL frame the TCP is drifting in Z direction rather than staying in a fixed position.
We have a similar setup with KUKA and we get to keep the TCP in a fixed position when moving the external axis in TOOL frame by configuring the Machine Transformation values.
Is there any similar values in Fanuc which can give me this result ???? or am i configuring something wrong ? Also is there a possibalitz to edit the Axis origin of the Robot?? Thanks a lot in advance.
Controller: R30iB Mate
External Axis: Güdel TMO-2-E
External axis motor: alphaiS 8/4000
Things i have already tried:
Added Mounting angle 45deg
Configured External axis in various directions X+,X-,Y+,Y-,XY
Tried modifying: $SCR_GRP.$OFST.$Z