Robot Shaking When Running in AUTO and Jogged in T1

    I am working on a M-10iD/12 that is shaking / vibrating when running in AUTO and while jogged in joint or world in T1. The shaking occurs on J5 and J6. The most interesting thing is that there are 3 M-10iDs that were shipped together and they all have this issue. I verified payload is properly set. I tried an auto update with no success. I will be contacting FANUC for more information but figured there might be someone having similar issues with a M-10iD. Any thoughts for troubleshooting this would be much appreciated.

    Have you checked if the mount angle is set correctly? Maybe it is configured at 180º so it tries to compensate against gravity incorrectly?

    I programmed a lot of robots of that particular model, and the most weird issue I had was that an incorrect configuration (someone loaded sysvar.vr file from another controller...) caused collisions mid air. Other than that, no problems so far.

    I would advise you to check the datasheet that is shipped with the robots and where it's the calibration data, there is also other variable that indicate the default torque value of axis 5&6, if this value is wrong the robot will not calculate payloads correctly.

    This value can also be recalculated by performing a calibration without any tool mounted if you enable the "Calibration mode: ON" when doing a payload.


    EDIT: Just to be SURE I advise you to make a image of the controller before messing with any settings, it's a safeguard if Fanuc ever checks that robot, you should always do this anyway after you power up the controller first time.

    Also, if you perform the payload calibration with the calibration mode, ensure there is NO TOOL installed, do it just with the robot flange (but if you have the datasheet at hand, just verify these values as if the robots are brand new they should match... If the values do not match maybe you have mixed the cabinets and mech units, you can also check the serial numbers as they are on that sheet)

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