Hello,
I'm currently learning how to work with FANUC robots and I've come across problems while trying set the DCS-zones for the SR-6ia robot I'm testing with.
My main goal is is to prevent the robot from drilling into it's work surface (so i want to "Restrict" the Z-axis in my world-frame or Joint 3 in the joint-frame). I have tried 2 different methods to achieve this (Joint position check & Carthesian position check).
The main problem I have is I am using a special tool that can switch between a suction cup and a clamp with a valve. The suction cup is like 2 cm longer than the clamp.
When I use the suction cup to set the minimal value of axis 3, this coördinate will be incorrect when I switch to the clamp-tool.
How are situations like this normally handled?
Then I tried using the cartesian position check. Here I tried setting the working zone using diagonal points.
Here I noticed that the model in the 2D-view doesn't match reality. Here is a picture of my robot and the 2D-view:
It it impossible to set any meaningful limit in the Z-axis because apparently, I cannot move the flange lower than the base of the robot (according to the 3d-model). I was using user frame 0 to test this.
(I don't think using cartesian position check is going to fix the problem of the variable tool-length, I just wanted to mention it because it makes no sense to me and I'm hoping someone can explain)