We have an issue with a Fanuc S-10 Robot where it is not travelling straight in any of the horizontal axis, this behavior started after replacing a servo for a vertical axis which is weird. We mastered several times and the issue won’t go away, we also replaced the same motor couple times and nothing. Does anyone know what could be?
Fanuc S-10 won't travel straight
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Jesus -
July 20, 2021 at 6:07 PM -
Thread is Unresolved
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In what coordinate system are you trying to move the robot?
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Did you move the input gear from the original motor to the replacement? If not, count the teeth on the original gear and compare to replacement. If there is play in the RV, one tooth difference can work but robot moves in an arc. Seen this on a S-420 between axis 2 & 3. On the S-10, I think axes 1 & 2 have the same motors but different RVs.
Does it still move not-straight in World coordinates?
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Hello Skooter, I am working with Jesus on this issue also but we have had little progress. The J3 motor was verified to have the same input gear as the original motor. The robot in the World frame still has the odd arc like movement when moving in Y direction (horizontally) while trying go in a straight line over a short distance (~2ft). Could this be an issue of the TCP?
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No frame setting will cause a robot to not move in a straight line. It must either be mastering or a mechanical issue.
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And you verified mastering by moving to zero position for all axes?
At zero, the wrist offset should be at the 3 o'clock position when facing the robot, seen someone master one with the offset at the 12 o'clock in the past.
Just curious, is this an R-H or R-J controller?
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