Shifting problem

alex1793 · February 25, 2020 at 3:58 PM

Hello guys,

Please, if you have any idea what’s the problem:

I’m using Sfton and sftof instructions with my search function, but the problem now is when i call the Sfton P001(for example) it switches the axis (Z is Y, Y is X, X is Y) and i have a wrong position because of this.
for example: P001 x=2 mm

y=5 mm

So in my code i call the Sfton P001 and for the X axis is taking me the VALUE from Y axis.

And i think all this problem showed up after i’ve done a tool recalibration (after the tool recalibration the controller asked for a “funcțional safety Board reset”)

Thanks in advance!
P.S if i making a new job it’s working, only in the olders jobs

Boring_robot_guy · February 25, 2020 at 4:00 PM

When you turn on the shift, does it show the shift active just above the edit buffer line?

95devils · February 25, 2020 at 4:24 PM

Do you have an information after the SFTON P001, such as BF, RF, TF, UF? With nothing but SFTON P001, the controller defaults to the base frame. Is the robot on a base track?

alex1793 · February 25, 2020 at 5:05 PM

Yes, it showes the Sfton active, and yes is on a base track. Last week was working really good. Now, i don’t know how to Find a solution because if i need to write everything back, it is a big job (almost 4000 lines)

95 deviles i tried with everything BF, TF, UF and is the same

robotruler · February 25, 2020 at 5:16 PM

From what you have stated it sounds like it is shifting in Master Tool Frame. If your jobs are taught with the station master then your data for the shifts will be what you stated.

Motouser · February 25, 2020 at 5:58 PM

Try this code before your SFTON:

Note: use a different Pvar instead of P001

Note2: I'm assuming you have tool 1 created and calibrated

'init variable

GETS PX124 $PX000

CNVRT PX124 PX124 BF TL#(1)

SUB P124 P124

'--------------------------------

SETE P124 (1) "put here your X shifting values"

SETE P124 (2) "put here your Y shifting values"

SETE P124 (3) "put here your Z shifting values"

'--------------------------------

SFTON P124 BF

95devils · February 25, 2020 at 8:31 PM

What is the control group/group set of the program? Single robot with base or Single robot with base and external axis.

alex1793 · February 25, 2020 at 8:59 PM

Single robot with base and external axis

alex1793 · February 26, 2020 at 7:57 AM

So, new details... the problem is only with Smov. If i have Movl is working good, but if i have Smov the shifting is bad. Any idea?

95devils · February 26, 2020 at 11:50 AM

When the job is coordinated with an external axis as the master, the shifting is in Master Tool frame. When the job is not coordinated the shifting defaults to base.

This is what robotruler was referring too. We were both guessing until you said Smov.

alex1793 · February 26, 2020 at 11:51 AM

So, what's the solution? before was working like this....

robotruler · February 26, 2020 at 2:09 PM

You will need to use the SSHFTON instruction when you are using SMOVL or SMOVC moves. That is Master Tool Frame Shift. Z in MTF = Y in RF. X & Y in MTF become floating elements.

alex1793 · February 26, 2020 at 2:29 PM

Robotruler, i don't have the SSHFTON instruction, only the SSFTON and i tried already, it's not working.

I tried also on the other robot and it's working!! the control group is R1+S1 : S1 and i'm using the SFTON instruction and SMOV and it's shifting well....so i don't know where is the problem

robotruler · February 26, 2020 at 3:02 PM

How are you writing the data to the Pxxx Variable. What search program are you using.

robotruler · February 26, 2020 at 3:06 PM

The SSFTON is the correct instruction.

alex1793 · February 26, 2020 at 3:30 PM

I have a search job from yaskawa. But when i’m making the tests i write the values manually in variables, just to see if its working

robotruler · February 26, 2020 at 3:55 PM

When you are testing what frame is your variable set for?

BF is the frame of the base track.

RF is the frame of the robot.

MTF is the frame of the external axis.

Job BR1-TOUCH & R1-TOUCH for example sets the variable to base frame

Job SR1-TOUCH sets the data to MTF.

Does it shift correctly when the search job runs?

alex1793 · February 26, 2020 at 4:59 PM

When i was testing and also when is working with search is Base frame. Is not shifting correctly when i have Smov, only with MOVL.
for example:

Movj

SFTON P001

SMOVL
SMOVL

SFTOF

MOVJ

robotruler · February 26, 2020 at 5:29 PM

Try setting the variable to Master Tool, then use the SSFTON Pxxx RB1. Use search job SR1-TOUCH.

MOVL robot is the master

SMOVL robot is the slave

alex1793 · February 27, 2020 at 7:00 AM

Robotruler, i tried like you said, and no results, still shifting bad

Shifting problem

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