I face trouble when using the robot Fanuc M-10iD12.
J4&J5 move twist when i jogs J6 using linear moving . I checked jog and user frames but no detect any problems.
This makes me confusing when teaching positions.
Please help me resolve this issue.
I face trouble when using the robot Fanuc M-10iD12.
J4&J5 move twist when i jogs J6 using linear moving . I checked jog and user frames but no detect any problems.
This makes me confusing when teaching positions.
Please help me resolve this issue.
Unless you are in very specific configurations, you can't jog a single axis in linear mode. Now if this is happening when you jog in Joint mode, you may have the wrong arm loaded into the controller.
Unless you are in very specific configurations, you can't jog a single axis in linear mode. Now if this is happening when you jog in Joint mode, you may have the wrong arm loaded into the controller.
Yes, I using those commands below in World mode.
PR[1] = LPOS
PR[2,6]=PR[1,6] + 90
L PR[2] 200mm/sec FINE
Seems like robot can't move as i wish. With reverse 90 degree, the J6 axis runs on curve movation.
The previous fanuc robots i used to don't have this problem. I guess the cause root is World/User coor.
Display MoreYes, I using those commands below in World mode.
PR[1] = LPOS
PR[2,6]=PR[1,6] + 90
L PR[2] 200mm/sec FINE
Seems like robot can't move as i wish. With reverse 90 degree, the J6 axis runs on curve movation.
The previous fanuc robots i used to don't have this problem. I guess the cause root is World/User coor.
These commands will always make J6 move in a curve, unless the active UTool has its Z axis colinear with J6 -- basically, XY values of 0, and an RP combination that adds up to 0 or 180.
The quick way to test this would be to run that test with UTool 0 active.
These commands will always make J6 move in a curve, unless the active UTool has its Z axis colinear with J6 -- basically, XY values of 0, and an RP combination that adds up to 0 or 180.
The quick way to test this would be to run that test with UTool 0 active.
I only want J6 moving but J4&J5 still move together.
UTool = 0 in setting.
i used the same command on the other fanuc robot but hasn't this issues
+ add video in loop.
If you only want J6 to move you must do a Joint move not Linear.
In linear element 6 isn't joint 6. It is the 3rd Euler angle relative to the current tool and user frames.
Change your code to: J PR[2]
In addition to what HawkME said, you would also need to change your PR[1] = LPOS to PR[1] = JPOS.