Mount angle with robot wall mounted.

Hi.

I have a problem with one robot when the robot brakes are released, it falls a little and sometimes gives a collision warning but only in T1. End efector weight is less than 2kg, the piece it grips weights almost nothing and Payload is set and correct.

It's a LrMate 200iD/7kg that is mounted on a wall, I've checked the variable where the mounting angle was stored and it was at 0, so I changed it to 90 through controlled start and mainteinance menu but this is still happening.

Robot with 0° on all axis is pointing up, connectors from the base are pointing to the floor, it's tightened and do not move and the structure do not vibrate.

After running the setup and changing the mount angle to 90, I've searched on the mechanical unit manual where it describes how the mounting angle is calculated but the way it's mounted it should be "-90" degrees instead of 90. In theory values accepted are 0-180, but if I put -90 it accepts and it shows on $Param_group[1].$mount_angle the -90 but problem still happens so I'm not sure if it's doing anything.

I really do not understand very well how this works since in theory if robot was mounted to the wall with the front part pointing to left or right instead of up/down from the floor, gravity forces would be different and with that configuration will not be taken into account... is there any more thing or config I should change other than this?

Thanks in advance.

Yeah, it's ok, payload data are theoric values since as it is that low and close to the flange Fanuc is not able to calculate the inertias itself. I even checked the active payload when on T1 to ensure the correct one was selected and it's correct, this happens wathever payload I select on program or executing manually the payload select instruction... it's not a problem while moving the robot, only when I press the deadman and motors turn on/brakes release. Robot doesn't give any collision or disturbance excess while working in automatic.

Tool+piece is about 1.3kg. This never happened me before on other robots that are also wall mounted, but that robots are a different and bigger model.

Quote from ROBOT_G

Your world coordinate system will move with the mount angle. You can check it that way.

I didn't notice that after doing the change on the real robot, it still moves the same way when on world and I do not needed to do any changes on the motions that used uframe 0.

Are you sure of this? As far as I know world coords stay the same, and if you require to jog correctly you must use a JogFrame with the rotated value to align with the floor...

Quote from Doctor_C

Yes, your angle mount should be -90. I would use the AP1 and reload the robot and start from the beginning. I have seen in the past where changing the mount angle later did not work.

What do you mean with AP1? Loading the original robot image and do it from scratch?

And yeah, I had problems with another robots where other people have loaded some files from other robots, even with the same controller model and firmware version... seems fanuc doesn't like that. Maybe that is the root issue of this behaviour since on the past I had to restore the original image on two robots and do the config from scratch because robot was giving collisions mid air due to the collision guard monitoring having the wrong values.

Thanks for confirming the value must be -90, that was what I was thinking but the mechanical unit manual is not very clear about that.

Thanks.

Quote from Doctor_C

Shellmer,

You may want to contact Fanuc. My partner told me that Fanuc told him you can't have negative angles

Thank you, I will ask the customer if the AP1 came with the robot, but as far as I know, here fanuc doesn't provide any additional card when robot is received, only the documentation regarding the calibration data and the approval info. We use to do a image first time before performing any change on configs or files and that is all we have.

I will ask fanuc then, since the way the robot is working doesn't allow to flip the base 180° in order to put the mount angle like on the mechanical unit manual to keep the angle positive... there must be a way to indicate that robot is mounted that way since effort on the axis should be pretty the same if it takes into account gravity the other way... that robot doesn't have any compensator for the axis 2, so maybe that is the issue and it should be mounted flipped 180°...

Robot with all axis at 0 is pointing to the ceiling, connectors from the base are pointing to the floor.

So yeah, Y axis if you see it from baseframe is rotated 90 degrees to the floor.

X is pointing to the ceiling, Y to a lateral of the wall and Z is perpendicular to the wall (I will try to attach a sketch later)

Robot carries a very low weight, there is none attached to the axis 3 since all what's needed passes through the user signal connectors and the internal pneumatics. Also the armload from axis 1 and 3 is at 0 since there is none attached...

Setup done from controlled start allows both 90 and -90 values, even as it states that values go from 0-180 if you introduce -90 it accepts it and the system variable where the mount angle is store displays -90. I would expect that if you put an incorrect valie there it would not be acepted...