Fanuc M710ic50T robot rail & dual gripper TCPF misallignment

Hello, I already had this problem before, and it's more simple than I expected to solve, i don't know if there is an easier method to do it but here what I do:

1 - Move the robot and see where the TCP go, If it goes to the side you want, proceed, if don't you will need to put the added axis and the another direction (X, Y or Z)

2 - Move the axis origin to a position you want, to make the robot go in the right direction

Maybe not your case, but here a pictures of my case, the TCP goes to the right side, but not the robot, so i just change the Axis Origin and its all fixed, again if not to the right side, put the axis again with another direction

Quote from Abhi2024

Thank you for your reply, when I jog the robot TCP move along with robot but this problem occurring only while creating operation & while verifying in rail slider.

If possible send pictures os your problems, so i can understand better

About the Axis Origin, you need to Unlock then in the general tab, the option is near the apply button

And one find I forgot to talk about, when creating the added axis, the lower and upper values, can have some impact

Quote from Abhi2024

If I change any value in axis origin, the robot sliding direction is changing, I have already added 7th axis

Ok, apparently you will need to add the 7th axis again, or in other words just do another robot with different orientation on the 7th axis, for what I can see it's the opposite of the one you put now

I really dont know any other method to solve it

Quote from Abhi2024

do you have any other solution?

Sorry but that is the only way I know, when I have time i will search more about that.

Hello, I'm back after some more research.

The thing about the rail not being allignamented to the robot, is because on the adding of the 7th the values (like the one in the image below) of Lower, Upper, X or Y need to be exactly in the correct direction.

So, if you did it wrong on the first try, the only way you can solve it is by adding another robot (you can't reserialise for some reason) in the correct way, otherwise won't will work

To know the right side to add the 7th axis, if you haven't already put the robot, is full luck, or if you got a project, almost sure it will be there, if not you will need to know if the rail/robot need moves to X+, Y+ (Upper), X- or Y-(Lower).

As a reference of the correct values side, you can use the XYZ Axis to get you oriented, on the bottom left.

image.png

So this is all I could find and do about it, now I really have nothing more to say or try to help you
Have a nice day!