Hello,
We recently purchased 200iD/7L robot with R30iB controller.
Robot has low hours and appears to be in great shape.
Here is the problem and I think it is a head scratcher.
Using 250mm Tramming Stone – In WORLD align one side of the stone to X . When checking in Y direction, I can see the robot is not following the stone. So basically the robot is not moving 90deg X/Y ( not square ) .
Second test – ( with correct Tool Frame – using a pointer that attached to J6 so only Z length entered in Tool Frame) – made User Frame using the tramming stone . Made sample program to hit all 4 corners of the stone . When moving X250 mm – the robot actually stops short about 2mm from the end of the stone ( which is 250mm away) . position screen says that robot is at X250mm. Next point X250/Y250 – robot is overshooting by a 1mm in X and .5mm in Y . So Basically the Robot is not moving square to the Frame .
Checked Robot Mastering. All Marks line up. I also did the Fanuc enhanced mastering procedure for J2/J3/J4 and J5 . The mastering is good .
Not sure what to check next. Any suggestions?