TCP Moving to opposite direction in Roboguide

a query about the Tool Center Point (TCP) moving in an unexpected direction. We were advised by Fanuc to use a trial and error method to align the TCP with the robot by adjusting the motor direction and other settings. However, we are having trouble aligning the TCP as per our Real world cell.

We have generated this cell from the backup of our Real world robot cell, but we are encountering issues with the movement of the 8th and 9th axes.
When we align the TCP in the RoboGuide software with the robot, the robot jogging gets inverted.
For instance, for the 9th axis at the physical cell, when pressing the Z- key, the robot jogs in the left direction from the point of home.
But in RoboGuide, when jogging the 9th axis by the Z- key, the 9th axis moves to the right direction.
if we adjusted settings as per real world cell the TCP moves at wrong direction from robot. The same scenario happens with the 8th axis.

We have not found any solution in the help menu or any documentation regarding this particular concept.
We are having trouble calibrating the actual cell with the RoboGuide cell due to this issue.

Quote from hermann

Nobody can help you, when you don't describe your complete mechanical setup.

Standard robot has 6 axis, you have at least 9 axis. But you didn't describe where axis 7 to 9 are mounted, what kind of axis they are, nothing. There are dozens of possibilities to use 3 additional axis, which one do you have?

X direction is 7th axis

Z Direction is 8th axis

The track is 9th axis

We have tried to change motor direction settings, settings also for both the axis , but after that setting changes the TCP in software moves opposite direction from desired position or if we get TCP at correct position the Position of 9^th axis is opposite to actual desired position with reference to Real World cell . as per fanuc suggestion to change direction of motor in controlled start to change direction X+ to X- but there is no such option for change in direction of motor. We have also tried to change motion sign that also not affecting.

I have attached screenshots for same

Anyone ???? We are stuck at this loop and unable to proceed

SkyeFire Could You Help us with this

Quote from hermann

Setting up external axis in Roboguide really is a pain.

First thing you must setup is, that all axis move the same direction in simulation and real world, when you are jogging joints. You already know the parameters you have to change.

If you can't setup this, you must change the orientation of your mechanics, ie turn them for 180 degree.

We have tried to change orientation also but having no luck by changing orientation same issue pops up , even fanuc engineer we are taking support from has no idea why this is happening , and his answers aren't helpful

Quote from hermann

Did you manage to setup all axis moving the same direction while jogging joints?

that is our main issue no matter what I'm not able to do this setting . if i succeed to get jogging as per real world the tcp moves to opposite direction , if I'm able to get tcp correct the entire axis moves to opposite direction

After a Trying so much and working with Fanuc we got nothing on this particular issue.....

Just the other day I have tried to build particular cell again from scratch.. I've created a cell then imported cad files and assigned them as per axis nd i noticed the position values of external axis were not zero those values are from backup of actual real world cell hence TCP was showing at other position as per real world, basically I have leaned that If you are configuring roboguide cell as per real world cell first thing shall be considered is all axis shall be at zero position then assign cad files as per axis

Quote

issue has solved

Quote from Carbon Pro

I dont understand what you meant by importing the CAD files per the axis and how that has anything to do with TCP moving off the tool when jogging the robot. I'm having this same issue and going through the same steps with Fanuc that you did. I have an integrated 7th axis on the robot. In fact, there are two robots in this cell that are setup exactly the same way in the real world except that they are mirrors of each other. What exactly did you have to change?

It was about a year ago, but as far as I remember, when I created a robot cell in RoboGuide using a real-world robot backup, I already had the TCP values and all the necessary data on the robot. However, when I imported the TOOL CAD file into RoboGuide and attached it to the robot, it would introduce a slight offset to the 6th axis because the robot was not positioned at zero.

To compensate, I visually adjusted the CAD file’s position, but this caused the TCP to shift as well, leading to misalignment issues. Eventually, I resolved the problem by creating a new robot cell with the robot set to a zero position. Once I attached the TOOL CAD file under these conditions, my real-world TCP remained perfectly aligned with the CAD file