Hello !
Last week , we had a feasibility test with the an external supplier ( they will build a machine for us ) , and I have seen a very strange issue .
Subject of a test :
- Pick up a part ( rectangle shaped) from a plastic tray
- Drop the part into the Jig. ( Placing is really tight, only 0,1 mm per side)
The supplier said, the palettizing function was not worked , so they tuoched up all positions ..
Pick : 60 positions
Drop : 36 positions
It is not seems so good if someting is going wrong...
Pallettizing code :
9: FOR R[2: Y]=0 TO 5 ;
10: FOR R[1: X ]=0 TO 1 ;
16: PR[2,1]=R[1: X ]*(-118) ;
17: PR[2,2:]=R[2: Y]*(-45.3) ;
PR2 is used for Offset .
Like this :
L PR[6:POZ1] 2500mm/sec FINE Offset,PR[2]
Issue :
The Robot was not going into the exact position , which was written in the PR[6] .
For example :
PR[ 6] value with the offset :
X 100 W -90
Y 100 P 0
Z 100 R -45
PR[6] reached position
X 99.8 W -90.1
Y 99.6 P 0.2
Z 100.1 R -44.8
Do You have an idea why ?
Robot : LR Mate 200iD/7L R-30iB Mate Plus
Thanks for Your answers