I work with a Robot Fanuc 100iD with a R--J3iB CONTROLLER.
This a Welding Robot. The robot use a rotating table MotoFil mount
on the X axe. So, when the table moves, the Y and Z change.
I welded a part when the table was at 45 degrees.
I wrote the coordinates of joints J4, J5 and J6.
The coordinates of this piece was:
GP1:
UF : 5, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = 297.592 mm, Y = 255.413 mm, Z = -211.301 mm,
W = -31.373 deg, P = 54.176 deg, R = 154.253 deg,
E1= 148.760 mm
GP2:
UF : 5, UT : 1,
J1= 225.001 deg
};
I tried to weld a piece located in the opposite direction.
I looked at the new coordinate and it was:
GP1:
UF : 5, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = 384.336 mm, Y = 255.413 mm, Z = -211.301 mm,
W = -31.373 deg, P = 54.176 deg, R = 36.000 deg,
E1= 235.504 mm
GP2:
UF : 5, UT : 1,
J1= 225.000 deg
};
I thought I saw as coordinated:
W = -31.373 deg, P = 54.176 deg, R = 25.474 deg
Why there is a difference on R (J6) and if I try R=24.474, the robot points to different place ?
Thanks for your help