This is my first post, so forgive me if my question sounds odd. I am attempting to create my first iRPickTool plug and play program with a SCARA robot. I have a conveyor set up as an outfeed conveyor, and a fixed station set up as an infeed. I set up the tracking frame, trigger position, and reference position according to the manuals provided by FANUC. During simulation in T2 mode, I am able to go to home/perch and pick a simulated part from the infeed station; however, when the robot goes to the wait position, it goes to a point approximately 400mm in the -y direction from the center of the conveyor (+x being in the direction of conveyor flow, and +y pointing to the right of conveyor flow). All the manuals I read state that the wait position should be at the upstream boundary of the conveyor station. Anyone have any idea why the wait position would be off by so much?
iRPickTool Wait Position Not At Upstream Boundary
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EEngineer_1689 -
September 2, 2021 at 5:00 PM -
Thread is Unresolved
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Can you check if one of the PR used have a weird number on the y ?
What PK routine does the robot goes for the WAIT ? PK_CV_DROP11 ?
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It is using PK_CV_DROP11. The Dp1 CV Ref Pos has a -1 Y value, which makes sense for the system. The Dp1 Cv Ap Ofst does not have a y value at all. Notably, the robot will move to the conveyor and approximate a place motion (although that still is rough) if wait position enable is set to false. The only time the robot attempts to move to this large -y offset is when it is attempting to move and stay in the wait position.