Those are symptoms of bad calibration/home position.
Incorrect home position calibration.
Controller believes different robot model is attached. Wrong -number robot. Incorrect link lengths.
Incorrect home position calibration.
Controller believes different robot model is attached. Wrong -number robot. Incorrect link lengths.
We checked the model on the nameplate of the manipulator and in the controller settings. They match.
The second position also normally arrives at zero points.
To be precise, calibration has to be done with motocal.
To be precise, calibration has to be done with motocal.
can you tell us in more detail how or is there any instruction?
can you tell us in more detail how or is there any instruction?
MotoCal is either purely software or a combination of software and hardware. This is dependent on if MotoCal or MotoCal V is used. A job is taught, certain files and the job are brought into the software. The software calculates new correct abso data. The old MotoCal will also calculate new link length data.
Being a robot that old, I'm sure its seen a crash or two. The mechanical home is probably off and doesn't match the kinematic model. MA 1400 and MA1900s are known to not get a good tcp, but that is extreme.
MotoCal is either purely software or a combination of software and hardware. This is dependent on if MotoCal or MotoCal V is used. A job is taught, certain files and the job are brought into the software. The software calculates new correct abso data. The old MotoCal will also calculate new link length data.
Being a robot that old, I'm sure its seen a crash or two. The mechanical home is probably off and doesn't match the kinematic model. MA 1400 and MA1900s are known to not get a good tcp, but that is extreme.
The robot is old but has hardly been used, operating time is about 2000 hours.
Are there any other ways to calibrate the robot? Now, when moving along the axis by 500 mm, the error is 3 mm. Moreover, on different axes X Y Z, the deviation in different directions is both plus and minus.
Unfortunately, there is no Motocalc program and we don't know where to get it. Maybe at least a trial version.
On the door of the controller, in addition to the factory absolute values of the encoders, there is a nameplate with parameters.
I know that the FD parameters are responsible for the optionality of the controller.
What are the S4D and MF1G parameters responsible for? When comparing, one of the numbers did not match.
For the MotoCal is necessary to have hardkey. It is not cheap software.
In order to calibrate the robot, there is a procedure, where need to be done a job with at least 25 points, need to import robot parameters, execute the calibration in software, afterward insert absolute data to robot and do the judgment job.
So online just need to be done the calibration job with 25 points, and judgment job.
Not many integrators have this software.
The S1C is jogging in teach in joint low speed.
The MF look like they are for the zeroing function.
The S4D I’ll have to dig into.
What parameter was different?
The S1C is jogging in teach in joint low speed.
The MF look like they are for the zeroing function.
The S4D I’ll have to dig into.
What parameter was different?
S4D0055 the parameter was different
S4D0055 the parameter was different
The S4D parameters have to do with job instructions.
For the MotoCal is necessary to have hardkey. It is not cheap software.
In order to calibrate the robot, there is a procedure, where need to be done a job with at least 25 points, need to import robot parameters, execute the calibration in software, afterward insert absolute data to robot and do the judgment job.
So online just need to be done the calibration job with 25 points, and judgment job.
Not many integrators have this software.
MotoCal is either purely software or a combination of software and hardware. This is dependent on if MotoCal or MotoCal V is used. A job is taught, certain files and the job are brought into the software. The software calculates new correct abso data. The old MotoCal will also calculate new link length data.
Being a robot that old, I'm sure its seen a crash or two. The mechanical home is probably off and doesn't match the kinematic model. MA 1400 and MA1900s are known to not get a good tcp, but that is extreme.
Thank you all for the answers, it is still unclear what to do. Most likely, you need to calibrate using MOTOCALV EG .
Depending on where you are, you can ship the robot to Motoman for calibration. It costs less than the software but you have to ship the robot. They can also come to you, but that may be cost prohibitive depending on you location.
