I am programming a second hand M3ia 6A delta robot with a R30iA mate controller.
There are 2 vacuum cups that are used to pick parts, one TCP for each one utool1 and utool2.
There is one frame for the plate I pick the parts from.
Parts are placed perfectly aligned parallel to the frame axes and there are +/- 20 rows and 17 columns.
And now the catch:
When I manually put a vacuum cup 1 centered on top of the first part, I select the utool 1 and the uframe 1, and I move manually (jog) the robot in X and Y axes selecting the UFRAME movement type, robot moves perfectly aligned across the parts.
When I manually put a vacuum cup 2 centered on top of the first part, I select the utool 2 and the uframe 1, and I move manually (jog) the robot in X and Y axes selecting the UFRAME movement type, robot has a big deviation of +/- 8 degrees.
This looks not normal at all to me.
Even the tool would be wrong (bad coords received from the technical office), the coords I am moving the robot across the UFRAME...
I can think about:
1. The robot is not well calibrated, that is possible because customer had it mounted in a very small area, it had been powered up without having the robot connected to the cabinet and it had to be mastered by me using "manual" methods (no quick cal was possible because the robot can't be placed in the required position and I had to master axis by axis.
2. The robot has a mechanical problem and there are some deviations when the clamp is inclined.
3. Maybe the software in the robot is not the right one (who knows what could have happened there before).
To put some extra fun, I have made the movments with tool 2 dependant on UFRAME 3 (another one), changing that UFRAME orientation solved the issue, and guess what? I ended up putting exactly the same values that I had at the beginning for UFRAME 1.
Any idea of what could be going on here?
Thank you all in advance.