Mr. athuludayn,
Here I have attached Robot backup, Please guide me how to fix the issue if you observe anything wrong in the program.[attach='30721']
Mr. athuludayn,
Here I have attached Robot backup, Please guide me how to fix the issue if you observe anything wrong in the program.[attach='30721']
What position specifically are you having the issue with?
I'm have an issue with HandOffStand part drop routine. All position in said routine is get shifted.
In the PROC rDropHandoffStand() which I assume is the one you're referring to, you use WObj:=wobjHandOffStand. I'd be taking a close look at this WObj to ensure it hasn't moved of been re-taught.
Next time you look at the robot running this routine with no issues, take note of the 'ABB' logo on axis 4, Is it normal or upside down?
Then, when you see it go out of position in this routine, check the ABB logo on axis 4 again and you may see that it is the opposite of what you observed previously.
I can't explain why this happens and perhaps some of the many experts on this site can provide an explanation but I've seen in the past where if ConfJ and ConfL are turned off, the robot can go to a position with axis 4 flipped over 180 degrees from the thought position which caused the position to be out by approx. 20mm which sounds a lot like what you're experiencing.
I can see that in parts of the program, you turn ConfJ and ConfL off.
If you think its worth trying, simple add these two lines to the start of the rDropHandoffStand() routine.
ConfJ\On;
ConfL\On;
I'm no expert but I've seen this exact problem happen a few times in the past. Hope this helps!
.. the robot can go to a position with axis 4 flipped over 180 degrees from the thought position which caused the position to be out by approx. 20mm. .
If this happens the calibration of the robot or tool definition is wrong. Flipping axis 4,5,6 shouldn't cause an an error of 20mm.
Easiest way to check calibration is to setup a tcp (sharp tool tip) with standard 4 position method. The mean error shouldn't be more than 0.5 mm.
Thank you Nortech & hermann. Thank you very much for you guys suggestions.
I will try all this and let you know.
Display MoreIn the PROC rDropHandoffStand() which I assume is the one you're referring to, you use WObj:=wobjHandOffStand. I'd be taking a close look at this WObj to ensure it hasn't moved of been re-taught.
Next time you look at the robot running this routine with no issues, take note of the 'ABB' logo on axis 4, Is it normal or upside down?
Then, when you see it go out of position in this routine, check the ABB logo on axis 4 again and you may see that it is the opposite of what you observed previously.
I can't explain why this happens and perhaps some of the many experts on this site can provide an explanation but I've seen in the past where if ConfJ and ConfL are turned off, the robot can go to a position with axis 4 flipped over 180 degrees from the thought position which caused the position to be out by approx. 20mm which sounds a lot like what you're experiencing.
I can see that in parts of the program, you turn ConfJ and ConfL off.
If you think its worth trying, simple add these two lines to the start of the rDropHandoffStand() routine.
ConfJ\On;
ConfL\On;
I'm no expert but I've seen this exact problem happen a few times in the past. Hope this helps!
ConfJ and ConfL are used to specifiy whether or not the robot's configuration is to be controlled during joint movement or linear movement. If it is turned \Off the robot will search for a solution with the same axis configuration as the current one, but it will move to the closest wrist configuration for axes 4 and 6 (which is why you witnessed axis 4 flipping). With it turned \On the robot moves to the programmed position and orientation, if this is not possible the program execution stops.
Thanks Xerim,
Hello Nortech,
We have tried your suggestion. I created one trial program and nowhere we used ConfJ\OFF; and ConfL\OFF; in that program but still we are getting same issue.