Hello. I have a LR Mate 200iD robot with a 30iB mate plus controller. I'm attempting to rotate the J6 axis clock-wise 360-365 degrees using Tool_Offset,PR[]. So far the closest I can get to this is if my PR[] is set to 359.5 degrees. If I set it to 360 degrees, the robot will stay at the 0 degree position. If I set it to 361degress, then the robot will only rotate 1 degree clock-wise. Can someone help me figure out how to rotate J6 360 degrees or more? Thank you.
J6 tool offset 360 degrees or greater
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gsackman -
February 28, 2022 at 9:23 PM -
Thread is Unresolved
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Axis limits?
MENU, 0, SYSTEM, Axis limits
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Axis 6 lower limit is -360 degrees and upper limit is 360 degrees.
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What is the turn configuration of your tool offset PR?
Are you using a joint or linear move?
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Example from my robot program:
PR[35,1]=0
PR[35,2]=0
PR[35,3]=0
PR[35,4]=0
PR[35,5]=0
PR[35,6]=359.5
J PR[101] 6.0sec CNT50 Tool_Offset,PR[35]
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Open up the axis limits for J6
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-360 to 360 degrees are the max limits
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Yes, you will need to increase the limits or the robot will not rotate past -360/360.
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How do I change those? It won't let me change them on the SYSTEM Axis Limits page.
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Try this:
PR[x]=LPOS
PR[x,6]=PR[x,6]+360
J PR[x] 100% FINE
What happens?
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I think you will need to change them in a controlled start, if I remember correctly...
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pdl, that works. Thanks