Hello,
I am working with a Fanuc S420i W (RJ-2 Controller) robot. All three axes while in world or tool jog modes have a visible curve in their motion.
Here is a list of what I have done so far:
- I have checked the motors and they are the original motors that came with the robot.
- I have re-mastered to the witness marks on each axis, multiple times.
- I have done an INIT start and reset to factory settings (problem being that I get the Control Reliable mismatch fault, and have to restore my backup to get it to work, which essential voids the INIT start)
The last thing I have checked is the gear ratio variable, and found that all them are set to '0', I'm not sure if that is correct. Any suggestions on what can be done to get this thing moving in a straight line? If anyone has a similar robot, can they post a picture of their gear_ratio variable? (Menu > System > F1 > System Variables > PARAM_GROUP[1] > Enter > Enter > Gear_Ratio. )
*EDITS*
After a few more tests, it appears that the J3 axis isn't moving as fast as it should to maintain a perfect linear motion. With all axes except J5 at 0 degrees (J5 was at -90 as to have it facing straight down) [as well as J3 being perfectly 90 degrees in reference to J2], I placed a level onto the arm long ways and moved the robot in WORLD in the X and Y directions and noticed that it would become unlevel at an exponential rate the further the distance from 0. X was worse than Y. Any ideas on what I can adjust to fix this issue?