Moving hard stops to change axis limits?

Hi

I hope everyone is ok,

So I got this robot LR Mate 200iD/7L that needs to go to a reject box, but to do it quicker and safer it needs to move Clockwise on J1 axis, but because of the axis limits it can only go there moving CounterClockwise, which is slower, and it has more chances to crash with a palletizer.

A Project manager here suggested that we can move the hard stops and, in that way, I am assuming relocate the axis limits.

Is this true? if this can be done, what does imply? redo the mastering? I am guessing it would move all my frames and positions data, but what else should we consider?

There is another idea that is reorientate the robot on the baseplate, which i think could also work, but i dont know if its harder or easier.

What are your thoughts on this?

Thank you again for your support.

Quote from SkyeFire

Impossible to answer without knowing how far J1 needs to turn in each direction. IIRC, LR Mates have an absolute limit of either +/-180 or 185 degrees on J1, and turning further than that will wreck the internals.

If the hard stops your PM wants to remove are add-ons, they might be on to something. If they're factory-original hard stops, they probably represent limits you cannot go beyond.

Well i need to rotate 50 degrees or so clockwise, my axis limits are -+ 170 and I cannot change them, I think he is talking about the factory original hard stops. So there is no way to adjust those hard stops?

Quote from RICARDO.CARMO_STREAK

hello,

from what i see here:

https://www.fanucamerica.com/docs/default-s…-data-sheet.pdf

it's ok to move your axys limits to 355º maybe, i have done it in the past but test the fisical robot limit.

but you need to check if the diference on j1 it's just 20º of freedom (Axys limited by software on 340º). this method does not involve changing any remaining positions.

In any case if you have cabling you need to check for those limitations to!

It's much better to change the fisical robot base a calculate angle so you can have the movimentation you need, if you have frames on your progam, just chage the frame and finetune the points.

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Thanks for your reply, if we move the robot base, do we need to redo the mastering? what else we will need to do other than changing the frames and position?

Quote from SkyeFire

...that doesn't tell me anything. How far does it have to go in J1 value? The important factor here is the absolute position of J1. "I need to rotate 50deg clockwise" tells me nothing unless I know where that move is starting from.

Anyway, that LR Mate can have a J1 range of +/- 170, or 180 if that option were purchased. I doubt the operating system would let you extend that even if you removed the hard stop. You could try Fanuc tech support, but my guess is that their response is likely to be NO.

The simplest solution might be to simply unbolt the robot from the floor and rotate it 50deg+ clockwise, then re-drill the holes and bolt it back down. Mastering will be unaffected, but will will have to re-teach all your UFrames and probably touch up your points a bit. OTOH, if the robot is already going past 120deg counterclockwise on J1, you'll still have the same problem, just on the other end of the J1 range of motion.

Well, right now J1 only needs for the job to go from -160 degrees to 25 degrees, but since we are relocating the reject boxes, we will need extra rotation clockwise. So, we are really not operating on the full 340 degrees, we only need a way to rotate the axis limits.