Having an issue jogging in linear with multiple robots... have all motor offsets to factory specs and confirmed 0 positions at calibrations marks and rev counters updated. Both World and Tool frame is pulling to more than one direction while jogging X/Y/Z ... IE Tool moves up while also moving out of the face of the robot (Y moves with Z while jogging Z)
ABB Linear Jogging Issue
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RobotUser1728 -
April 14, 2021 at 6:10 PM -
Thread is Unresolved
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Did you try using the joystick lock for the directions that you do not want it to go? Eliminate accidental deflection of the joystick.
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What version of controller? Does the installed robot type match the sticker on the robot?
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Does the jog window show any change in the axis you see drifting? And are these newly installed? Maybe they are not levelled well.
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6600's? S4C+?
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OK, way back in the day, there was a change to 6600's which made them type B? variants. Some of them made it out of the factory without the sticker which said type B. They jogged wrong in linear quite clearly. When we reinstalled the system with type B, all was good. I would still be very sure that the robot type indicated in the system matches the sticker on the robot. And the serial numbers match robot to controller.
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something similar happened to me with a used robot. in the end, after various checks, we discovered that an extension had been installed on axis 4 of an incorrect size and for that reason the kinematics did not respond correctly
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ABBs virtual robot has all the right parts that match the system. Could be some mechanical difference such as a wrong wrist or incorrect extension as Reboot suggested?
Jog each joint a specific number of degrees in the Jog screen and see if it matches physically.
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Also, please check that the behavior is or is not the same in world and base jogging. If it is not, then you should look into the baseframe of your moc.
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Also, please check that the behavior is or is not the same in world and base jogging. If it is not, then you should look into the baseframe of your moc.
I agree with the suggestion and I would risk a system reset to remove any doubts
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Is there a possibility that any of the calibration marks were modified?
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