End of robot arm is bouncing

    • New

    Fanuc 2000ib-210F

    When jogging the robot in joint on axis 2 only, the end of the robot arm is slightly bouncing up and down. It gets worse the further extended J2 is. It does not do this if I jog the robot in axis 3.

    I have no tooling on this robot and the payload is set to 0. We have replaced the second axis motor which had a new gear and the servo amplifier and it did not solve the problem. The balancer seems to be moving smoothly as well.

    Any suggestions on what else this could be?

    • New

    What is the history on this robot? Was this robot just purchased?

    What did the grease look like when the J2 motor was changed? Metal sparkles in the grease? Bad J2 RVs are somewhat common. Lack of or improper PM and/or significant crash earlier in its life are usual contributors to bad RVs.

    Is controller R-30iA or R-30iB? Does the controller & robot Fanuc ID # match (Fanuc America uses F numbers)? Could be software and/or wrong amp if they are not matched.

    R-2000iB/210F Amps:
    R-30iA = A06B-6107-H002
    R-30iB = A06B-6400-H102

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