Abnormal movement when offset

Hi all,

I've been using a 4kg robot recently (ER-4iA, brand new) and tested its movement with a simple program. All was normal.

Upon further inquiry, however, I discovered that if offsets are added to end of a MOVETO line (e.g. OFFSET, PR[…] ; TOOL_OFFSET, PR […] ) the robot moves very strangely. It jerks unevenly as though the mount angle has been set to 180 or the oil is running low.

Sometimes this also seems to affect FINE/CNT movement, causing the robot's path to have only slightly rounded corners (CNT10?), slowing down without stopping regardless of what I write.

Any ideas?

Thanks in advance,

~Tony

Quote from HawkME

Is your payload set correctly?

I believe so…

I set the weight and center of gravity but left inertia as 0,0,0. Perhaps my inertia may be set wrong?

Then again, it seems to be over-compensating rather than under-compensating. That would explain the jerky movements.